Author Topic: Custom Turntable Simulation  (Read 429 times)

erikmartinez

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Custom Turntable Simulation
« on: February 01, 2019, 12:37:33 AM »
Hi Johannes,

We are in the process of setting up our custom turntable and have followed some of your instructions from a previous post but had some questions. Our setup is a KR125 arm with a KR C2 computer and a KR C1 controller, as well as a custom turntable.

Previously you said:
"As the next step you would calibrate your turntable, as a result you will get the XYZABC values that signify how the turntable is located in relation to the robot's base. So if X is 1500, the turntable would be 1.5m in front of the robot. Enter those values in the dropdown menu that you get from right-clicking the turntable component in PRC." We completed this calibration using the root point method and the numbers make sense.

"Finally you would calibrate an Offset system. That is the same as a Base system, but its zero-point is the origin of your turntable. So the values will be rather small, in the hundreds of millimeters probably." We completed this calibration and received VERY small values.  We are unclear as to how these values are utilized in prc or within KR C2 itself?

"Enter the XYZABC values as a base in KUKA|prc." This step I am a little unclear on. What base number should be used when inputting these values into prc? The robot base (in our case 0,0,0,0,0,0), or the turntable as a base with the root point numbers?

"Before you proceed with KUKA|prc, activate a calibrated tool and your offset base. Go into e.g. base movement mode and move the E1. The tip of the tool should stay at exactly the same position in relation to the turntable, it rotates with it. If it wobbles around, your calibration isn't very accurate. Or maybe the gear ratio is incorrect." We completed this step and the tool tip follows the turntable consistently.

With all of this said, we still seem to be getting issues when trying to run a file which includes turntable rotation via dynamic vector. Depending on which combination of base number, base values, and turntable values in the component right-click menu we use, the errors are either an A4 out-of-range to begin with OR the file begins as expected but then the robot proceeds to circle around the turntable as if it didn't know the turntable was rotating (the turntable IS indeed rotating). It seems as though our calibration is fine and we can run files as expected when not inputting a turntable, but cannot seem to get the right combination to get our turntable and robot working together correctly in our prc outputs.

Any help is appreciated and we would be happy to provide files if need be!
Thank you,

Johannes @ Robots in Architecture

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Re: Custom Turntable Simulation
« Reply #1 on: February 01, 2019, 07:24:01 AM »
Hello,

Regarding the offset system: If you place the offset system close to the root point of the turntable then VERY small numbers are totally fine.
When you calibrate an offset system, it gets saved along with the regular bases, just with an additional tag declaring it an offset base. So just use the number you chose at the beginning.
You set the root point of your turntable by right-clicking the turntable component.
The dynamic vector can be tricky at times, for those occasions you can also create your own strategy, see the attached example for defining your own rotary table strategy.

Hope that helps!
Best,
Johannes