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Messages - bridgewater studio

#16
Support / Problem calibrating turntable root point
April 17, 2018, 05:52:47 PM
We've gotten to the point where we're trying to use the rotary table with CAM software, but there's a problem calibrating the root point. I've repeatedly followed these directions, but keep getting a wrong calibration. I've attached a picture of the saved settings.

Correct me if I'm wrong with your directions:

1) Locate table where it is to be used and level it. (I've also mounted a steel point in a small spindle and calibrated a TCP for that to use. I used that steel point TCP to find the rotary center of the table by rotating the table top with the steel point touching it near the center and jogging the tip until I found the center of the table. From there I repositioned the table top to be square with the base. From my homemade table top center point, I jogged the tool tip 395 mm to one edge of the table (the table measures 400mm from the center to closest edge) to make the mark for the Tool Reference Point. I numerically entered this data as (395, 0, 0, 0, 0, 0) (X, Y, Z, A, B, C) as a Tool in the Kuka.}

2) Unmaster External Axis 1 and remaster using Dial mode. (I'm not sure if I need to unmaster every time I move the table, but I have been doing that.)

3) Measure the External Kinematic Root Point using the Tool Reference Point created above using the 4 point method with the calibrated tool already mounted.

Can anyone see anything here that I did incorrectly? I ask because I consistently get a C value of +/- 179°. Why does the robot keep calculating the table to be upside down?

The software we're using to program the robot with the rotary is Kuka|PRC. If I enter these values or any C value like this into the generic turntable component, it flips the table relative to the robot, which won't work. I don't understand what could be causing this C value.

If anyone have any ideas or other sources to find answers, please let me know.

Thanks