KUKA robot loads are processed during zero point correction

When calibrating at zero point, it is not necessary or advisable to disassemble the load things; Otherwise, the TCP may have to be recalibrated after disassembling and assembling things.

In practice, it is possible to carry out the zero-point proofreading operation after the installation of the robot is completed. However, this thing will need to be loaded in the future when you re-calibrate the zero point or check the zero point. If something is removed, the force on the robot is reduced, and the shaft will bounce back, and the zero point will be different from when the thing was loaded.

Therefore, the requirements of the robot load condition during zero-point calibration are consistent.

KUKA robot loads are processed during zero point correction

KUKA robot loads are processed during zero point correction

For example:

A robot is used for the first time is no-load calibration, then in the future, zero point calibration needs to adhere to no-load;

When the B robot was first used, it was calibrated with a thing, and it will need to be installed when calibrating at zero in the future.

C robot will use three different parts of things when operating: Tool1, Tool2, Tool3, how to operate when zero-point proofreading?

In this case, the no-load zeroing achieves its intended purpose, but it is more cumbersome to operate: it is necessary to remove things every time the zero point is recalibrated or checked, which increases the operator's workload.

To prevent the hassle described above, there is another set of treatment plans:

Calibration with load makes the operation more convenient

The zero-point proofreading plan of "check-and-load" in the KUKA system cleverly handles the problem of three different components.

Steps:

1. First of all, the robot insists on no-load and enters the "initial adjustment" function for zero-point proofreading. (If there is something lightweight, such as a gun changing plate, it can also be installed and "first adjusted".) ）

2. Install each thing in turn, enter "Partial Learning", and click on each axis to "Learn" according to the prompts. (Each thing needs to be studied separately for a 6-axis bias.) ）

After completing the above two steps, the zero point proofreading is completed.

Note: It is necessary to select no-load calibration for "precision robots (robots with PID files)", or for those with things, select the "calibration with load" plan for zeroing operation, otherwise its accuracy will be affected.

Robots that perform zero-point calibration through the "Load Proofing" program can load anything after receiving the "training" of bias learning to enter the "Load Proofing - Biased" mode to re-calibrate or view the zero point when they need to re-calibrate or view the zero point in the later protection.

Precautions

(1) When the "biased" function is selected to calibrate the zero point or check the zero point, the system will automatically remove the bias value generated by the gravity of the east and west, so as to ensure that the load condition is consistent with the no-load zero calibration.

(2) The "unbiased" function is only applicable to the restoration of the original zero point calibration value when the zero point is lost due to human error or electrical reasons (such as RDC card fault, sudden power failure), and is not allowed to be used to replace the motor, gearbox or mechanical disassembly.

KUKA robot loads are processed during zero point correction

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