Axis 6 overextension

[Matt Johnson]

Hi everyone

I'm using a Kuka Agilus R900 and PRC V2.  I'm creating a program that basically consists of a long series of repetitive LIN commands to control a hotwire bow on the end of the robot in order to cut a symmetrical shape.  However, my Core is showing that over the course of the program Axis 6 is slowly spinning itself to death.  Adding in periodic PTP commands isn't helping it "unwind".  I'm not sure what's causing this behavior or how to fix it.  Thanks for any help!

Matt Johnson
BS ARCH '17
University of Virginia

[Johannes @ Robots in Architecture]

Hello Matt,

If you use a PTP command, try setting not only the STATUS but also TURN, which will unwind the axis. But note that this unwinding will be a very "large" movement.
Alternatively you can set the A6 of an Agilus to infinite rotation. Just make sure that you don't rip the cables that provide power to your hotwirecutter.
I can give you details how to do that, but please first check with the people responsible for the robot (Melissa?) if it's OK to change the configuration of the robot. It requires you to edit a configuration file.

Best,
Johannes

[Johannes @ Robots in Architecture]

...and I've also upgraded your account to member status.

Best,
Johannes