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Support / Re: Problem calibrating turntable root point
« Last post by Johannes @ Robots in Architecture on April 23, 2018, 07:58:10 AM »
Hello John,

I'm not sure that I contributed much, but I'm very happy that you were able to solve it, and really appreciate you sharing the steps you took!
By the way, the next KUKA|prc update, which I will probably upload in the second half of the week, will allow you to define a custom turntable geometry, by the way. So you can integrate your own turntable for collision checking!

Best,
Johannes
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Support / Re: Problem calibrating turntable root point
« Last post by bridgewater studio on April 20, 2018, 05:39:27 PM »
Thanks for all your help with this Johannes.

So, it turns out I had all the right elements, they just needed to be blended just so.

I mastered the turntable and found the root point. I zeroed the B and C values since my table was leveled. I decided to keep the A value, but I could probably chuck that as well.

(No matter how many times I tried, I always get a C value of near +/- 180; if I changed the C value of ET1_TA1KR to 180, that wound up causing other weird problems, I think; this is such a weird, vexing problem; that it turns out not to be a problem, at least right now, just gives me anxiety, because it just seems like a problem waiting to drive me insane in the future.)

As it happens, I had multiple TCPs for the hotwire tool I had created in two different files that I was working with. For the purposes of communicating with you I had used the files above that you had helped us with. However, I had been working with another file where I had updated the TCP for that tool but had yet to update the files I posted here with it. Another person came in to help us with this and he just immediately looked for those values on the robot to double check and sure enough that was the final puzzle piece.

Also, there might have been something to do with having changed so many of the configuration settings and then resetting them that the computer needed to be rebooted. Once that happened, it just seemed like everything started working better. (It had stopped recognizing our usb drive for instance. Once rebooted it found it again.)

Anyway, for the moment we're up and running and we are now able to run the program using a rotary table in the robot and cut foam with the program running to completion with no problems. I'm still not completely confidant that if I move the table and do this all over again that I will be able to run everything correctly. But at this point, I at least have a better process by which to instantiate everything.

Thanks for your patience and efforts! Have a great conference.

John
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Support / Re: Problem calibrating turntable root point
« Last post by Johannes @ Robots in Architecture on April 20, 2018, 11:08:18 AM »
Hello,

Well, the mastering of the turntable is important to set the right axis and therefore direction of rotation.
However, if you create an offset base - and don't flip the XY axes - Z should definitely be up.
So I would guess that with an calibrated offset base we should be much closer!

Best,
Johannes
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Support / Re: Problem calibrating turntable root point
« Last post by bridgewater studio on April 19, 2018, 07:55:07 PM »
I didn't. I'll try it. Do you think I would need to recalibrate my tools' TCPs as well? I wouldn't guess I'd need to, but so far none of my guessing on any of this has been very good.

As for physical location, see pic. This looks like the same problem I've been having all along. You can see that the X/Y/Zs of the tool relative to the rotary table are all negative even though it is currently occupying a very clearly +Z location, at the very least.
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Support / Re: Problem calibrating turntable root point
« Last post by Johannes @ Robots in Architecture on April 19, 2018, 07:29:18 PM »
Hmm.. Did you also re-calibrate your offset system, just in case?
I would try to compare the physical and actual robot, i.e. put them both in the same axis position and then see where the robot thinks that it is in the Cartesian space.
That should give you an idea where the problem is.

Best,
Johannes
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Support / Re: Problem calibrating turntable root point
« Last post by bridgewater studio on April 19, 2018, 07:24:43 PM »
Actually, I just tried setting C to 180 degrees for ET1_TA1KR in Axis Configurator and then recalibrated the root point. I'm now getting close to 0 for B and C, which is good!

However, when I try to run my test.src out of prc I'm now getting an error for Work Envelope Exceeded. Is there something else I need to set in prc to accommodate this change? Or is it something else altogether?

Thanks
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Support / Re: Problem calibrating turntable root point
« Last post by bridgewater studio on April 19, 2018, 06:29:04 PM »
So, when I ran the offset with the root point of the table as the origin, it initially had the effect of causing the robot to execute the prc code correctly with the exception of the table rotation.

I then did in fact open Axis Configurator to change AXIS_DIR to -1, which didn't change the positive rotation direction of the table at all, but instead screwed up how the robot executed the code. I'm not sure how to describe what it was doing, but it was even close to what the prc simulation was doing.

I really feel like this should not be this difficult. Measuring the root point is so simple to do, how can this forever be causing so many problems? This is why I'm worried that the wiring or configuration is wrong, but I really don't have any procedure for tracking down the error. No matter how I do it, the robot thinks the table is upside down. I can't find any other variable to modify. And now, after making changes in all these other regards, the robot now thinks that the starting position is about 3 feet higher than where prc is indicating it is.

I would happily read the manual, if someone would kindly show me what page in which manual clearly states how to resolve this.
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Support / Re: Problem calibrating turntable root point
« Last post by Johannes @ Robots in Architecture on April 19, 2018, 03:55:58 PM »
Hello,

Sorry for not getting back to you before that, it's quite busy here with the start of the Rob|Arch registration etc.
What offset are you referring to? The offset base is simply a coordinate system that is placed in relation to the root point of the turntable, which means that it also rotates along with the turntable. A normal base would not do that, as it is fixed to the root point of the robot.
Regarding the axis direction, you can try the AXIS_DIR thingy from here: http://forum.robotsinarchitecture.org/index.php/topic,824.msg2131.html#msg2131
If it does not work, I can just switch the rotation direction of the turntable as well on the PRC side.

There isn't really a right or wrong with these things, just as some people use the X-axis as the robot's toolaxis, and some use the Z-axis.

Best,
Johannes
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Support / Re: Problem calibrating turntable root point
« Last post by bridgewater studio on April 19, 2018, 03:29:10 PM »
Alright, I figured out that the problem was in improper offset calculation. I had previously been thinking that offset were for working on parts on different parts of the base. Here, though, the offset is simply informing the robot as to which side of the rotary is up... I think. I used the center point of the table (physically scratched into the table using a steel point) as the origin of the offset. Then setting +X in the direction of positive/outward from Robot Root and +Y perpendicular and to the left of that. Now when I run the as expected with the robot making the correct approach and the tool oriented correctly from what I can see. However...

The final fly in the ointment is that our table is now rotating in the opposite direction of the PRC simulation and it's not clear why.

Thoughts?

Thanks
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Support / Re: Problem calibrating turntable root point
« Last post by bridgewater studio on April 18, 2018, 11:25:50 PM »
Actually, correction to previous post: I stated the orientation of the X/Y/Z incorrectly. It's actually more simply like a -90 degree rotation away from positive X. So X is along -Y, Y is along +X, and +Z is +Z. But that's with A/B/C uncorrected to 0s. When A/B/C are "corrected" to 0s, you'd see values more like the picture above.
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