1. Problems in the load setting of KUKA robots
In fact, there is only one intention, a suitable load, under the appropriate driving force, the manipulator can withstand enough moment of inertia regardless of static or dynamic to ensure that the electrical control system controls the manipulator.
Like other robot brands, KUKA also needs to set appropriate load parameters, the difference is that KUKA needs to purchase this option function Load Data Determination, and other original manufacturers are generally more open.
We can also manually calculate this value through PRO-E or CAD. It is inevitable that there are certain errors (margin load errors) in the software theory accounting, so if too much dynamic load margin is not considered in the design process, there will be many unfavorable factors, such as excessive impact load, different degrees of impact on the rigidity of the manipulator will have a great impact, especially in the case of high load, resulting in severe poor accuracy (the load of the six axes affects the cumulative accuracy error) and the resulting track deviation and other phenomena, and even severe manipulator breakage!
If it has the active load accounting function, it can be actively accounted for. After obtaining the load parameters, they are saved to the corresponding load thing (number), which generally includes the weight, center of gravity and inertia of the thing.
If there is no load option function, it can be corrected by the load test software, and the load parameters of this thing can be manually written after saving the margin. The load in which it is manually calculated can be evaluated and improved to varying degrees. For example, the KR210 has a load M of 200KG, and the center of gravity of the east-west load affects the overload of the A5 axis, through which the design of the thing can be improved in time.
2. About Load Data Determination
The KUKA robot option Load Data Determination can be used to calculate useful payload data and set up to 16 useful payloads.
I acquire weight, center of gravity and inertia by load test active accounting. After the test, you can see the practice value and save the corresponding thing load number.
3. Set the general path of Load Data Determination:
1. Change the language to English in the teach pendant menu
2. Click Start up to select Service and select Load Data Determination.
3. The manipulator attitude beats the 2nd and 3rd axes to ±90 degrees, and the 4th, 5th, and 6th axes are saved at about 0 degrees and then proceeds to the next step.
4. Select the model type corresponding to the manipulator nameplate
5. After saving, hit the robot into the internal active mode, run Start to enter the load test program, and select YES according to the prompts.
6. After completion, save the corresponding thing number.
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