Thanks for your patience. I am trying to understand your advice. I have already correctly targeted the root point of the external kinematics. The coordinates are almost identical to what I have set up in RoboDK. The root point of the table was set in the base nr. 1. However, the arm keeps making the same mistake. Attached is the current config and the generated program.
Posts by Janek
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I did this program and unfortunately I don't know what is wrong. Can you open the robodk file and verify the correctness of the generated file?
Many thanks.
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Here is actualised config.dat
And program
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I think I have the root point set to the system as well. I think I just have something turned on wrong, or the program is reading incorrect values. Thanks for your time.
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Thanks. I am an absolute beginner. So I understood that I had to have a base created. I created it. The program always resets the selected tool and base values at start. So I rewrote the values directly in the generated program. The program already selects the correct settings for base and tool when it starts, but it still goes somewhere. Please watch the attached video, at the beginning go the table correctly to zero and arm go above the "milled part". But then the arm moves away. It is not the same as in the simulation. It will be some banal problem, but I don't know how to proceed.
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Many thanks. External kinematic is integrated in controller, but i think without postition. When program start, turntable go to home postion (it rotates), but spindle go to position near robot base. If i generated same program, but without turntable in RoboDK, robot start in correct position.
I am still looking for the position of the table, but I thought that the robot was able to read the position of the table from the generated program and work in the same way as in the simulation. Evidently, the coordinates of the table need to be set in the controller, but I don't know where exactly.
Now is postion of turntable X+1800mm ;Y0; Z+185mm. Relative to base of robot.
Thanks for support. Jan
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I want to try my luck here on the forum. I have simple program for milling with KUKA KR90 with turntable generated in RoboDK. In simulation in RoboDK is all good, but when i run program in robot, arm go to home position on robot base, so position of turntable is not set. Can someone help where to write turntable coordinates in robot controller? (KRC4). Many thanks.
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Hi, I bought a KUKA KR90 robot that only worked for a few hours in the showroom. But I was surprised by the quality of machining of cast parts on the robot. Is it really possible that the parts are machined with a hand grinder after casting?