KUKA robot external axis configuration what you must know

Last time we talked about the configuration method of the external axis , This time, let's talk about the knowledge we must know and pay attention to when configuring the external axis .

First, hardware ：

1 Drive size selection

In principle, kuka Only their own motors are supported , However, in practice, there are also experts who have used motors of other brands , And run it successfully .

The size of the drive determines the motor power that can be used , But a big drive can pull a small motor , The matching between the drive and the motor requires us to check the table .kuka The drive of is divided into KPP and KSP, In the early KPP Only power function , No drive function . Later, the drive function was added . Common are 20A,40A,64A,3 Kind of

2 connection

Sometimes the external shaft configuration is unsuccessful because of wiring problems .

For example, it is connected in the wrong position , Several external axes are mistaken for encoder line and power line

poor contact , Power line interface under the control cabinet （x7.1）, Often someone will push the plug out .

3 Reduction ratio

It seems that most mechanical designs cannot calculate the reduction ratio of the guide rail , If you don't use KUKA Guide rail , This reduction ratio needs to be calculated , The position displayed on the teaching pendant shall be the same as that on the actual guide rail . Otherwise, some coordinate problems may occur .

So it's better to calculate the data by yourself , And the positive and negative value of the reduction ratio determines the positive and negative direction of the outer shaft .

4 Whether coupling coordinate system is required

Robot can realize coordinate system coupling , It means that the Cartesian coordinates can be achieved after establishing the relationship between the external axis and the coordinates of the robot during configuration （xyzabc） operation , The outer shaft is synchronized with the body shaft . This will make your operation more convenient and fast .

5 Understand the system variables of the relevant external axis

stay kuka Robot development to KRC4 In the future, many people don't know what variables are needed to know when configuring the external shaft .workvisual It has helped us to turn the configuration of the external axis into a graphical operation , Therefore, many engineers will not adjust the relevant debugging variables of the external shaft .

But many relate to load and motor power , Launch parameters , The values of system variables related to parking parameters shall be adjusted according to the actual operation status .

such as ：

The proportional part of the speed regulator ：VelGain (PTP, CP)

Integral part of the speed regulator ：VelIntTime (PTP, CP)

Position adjuster ：PosGain (PTP, CP)