1. Problems in the load setting of KUKA robots
In fact, there is only one purpose, the appropriate load, under the appropriate driving force, the manipulator can withstand the inertia moment that satisfies both static and dynamic, so as to ensure that the electrical control system controls the manipulator.
Like other robot brands, KUKA also needs to set appropriate load parameters, but the difference is that KUKA needs to purchase this option function Load Data Determination, which is generally more open to other OEMs.
We can also manually calculate this value through PRO-E or CAD. In the software theory accounting, there are inevitably errors (margin load error), so if too much dynamic load margin is not considered in the planning process, there will be many unfavorable factors, such as the impact load is too large, different degrees will have a great impact on the rigidity of the manipulator, 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 trajectory deviation and other phenomena, and even severe manipulator breakage!
With the active load accounting function, this function can be actively calculated. After obtaining the load parameters, they are saved to the corresponding load thing (number), which generally includes the east and west components, the center of gravity and the inertia.
There is no load option function that 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 accounted for can be evaluated and improved to varying degrees. For example, the load M of KR210 is 200KG, and the center of gravity of the east-west load affects the overload of the A5 axis, which can improve the east-west planning in time.
2. About Load Data Determination
The KUKA robot option Load Data Determination calculates useful payloads and can set up to 16 useful payloads.
After the load test, the weight of the thing, the center of gravity and the inertia are obtained through active accounting. After the test, you can see the actual value and save the load number of the corresponding thing.
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 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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