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RobotExpert 10.1 Down and Upload is not the same

Pioneer
Pioneer

When i download an program to the robot and upload this program directly there are differences in the importet positions.

 

What can be the problem?

9 REPLIES

Re: RobotExpert 10.1 Down and Upload is not the same

Siemens Phenom Siemens Phenom
Siemens Phenom

Which controller are you using? How much is the difference in the coordinates? One reason can be a mismatch in the BASE / WOBJDATA position.

Re: RobotExpert 10.1 Down and Upload is not the same

Pioneer
Pioneer

KUKA KRC4 Version 8.2

 

The Error is in the downloaded file.

The position has there an different to the simulation from round 4000mm

Re: RobotExpert 10.1 Down and Upload is not the same

Siemens Phenom Siemens Phenom
Siemens Phenom

What is the configuration? rail, positioner, etc..? Have you done "Create/Update System Frames" at least once before doing upload/download?

Re: RobotExpert 10.1 Down and Upload is not the same

Pioneer
Pioneer

Its just a single robot.

Update the system frames is done

Re: RobotExpert 10.1 Down and Upload is not the same

Siemens Phenom Siemens Phenom
Siemens Phenom

The program is probably using a base number that is not properly defined in Robot Expert. Can you check that?

Re: RobotExpert 10.1 Down and Upload is not the same

Pioneer
Pioneer

The positions wich are not correct used base nr. 0 - Worldframe

Robot World is not the cell 0

Re: RobotExpert 10.1 Down and Upload is not the same

Siemens Phenom Siemens Phenom
Siemens Phenom

Where is <robot>.bf0 frame in your study? After Create/Update System Frame, it should be located at the robot BASEFRAME and attached to it. Then the uploaded locations should be in a position so that relative to bf0 (set bf0 as wroking frame to check it), you find the values you have in the dat file. And at download, you should also get those values in the generated dat file.

Re: RobotExpert 10.1 Down and Upload is not the same

Pioneer
Pioneer

bf0 is in robot baseframe

 

the other robots in cell have an frame called .sim_bf0

they are on an rail, maybe this is the reason for sim_bf0?

Re: RobotExpert 10.1 Down and Upload is not the same

Siemens Phenom Siemens Phenom
Siemens Phenom

yes, sim_bf0 is the rail base