[赫姆]

Hello there,

is there a way to identify the Flange Rotation in relation to the Base of the Robot (KR C4 in my case). We do have a 3rd party tool installed and in our Home Postition (where the tool points to the ground...by eye) the Flange ist still a fair amount rotated. I do have the axes information, but this does not help me with determining the angle in relation to the base....

Thx in advance

[Jeremy]

I'm not sure to understand what you mean by "Flange rotation".

Can you attach a print screen or pictures to better illustrate your issue.

Jeremy

[赫姆]

Hello Jeremy and thanks for taking the time... ;)

I attached a screenshot of the virtual situation.
This is the实际的中心位置of our KR30 at the moment. As you can see the flange is rotated a bit (about 18 degrees).
In the real world there is no such rotation of the tool (laser welding head), because the mount has been rotated in such a way (by 3rd party before delivery) that the laser head points straight to the ground.

My Question is: How can I determine the exact amount of degrees that the flange is rotated in relation to the base of the robot, so that I can adapt the rotation of the Geometry (welding head) to fit our real world situation.

Of course I could take a protractor and measure the offset angle by hand but I would prefer to know the exact numerical value.

[Jeremy]

Maybe it's because it's Monday, but I'm not sure I'm getting it.

But anyway, here's some piece of information.

Your ~18 deg on the home position, you mean on the real robot? Because I looked in our library and there is no rotation of the flange.

For the simulation phase, I generally position the tool using the flange bolt pattern. That gives you a good enough estimation in most cases.
Then you do a TCP definition//www.sinclairbody.com/doc/en/General.html#CalibrateTCP
https://www.youtube.com/playlist?list=PL...LBNEmBE57E
It will position the TCP at the real place so that your generated programs are accurately positioned.

Jeremy