ROBTECH

AUTOMATION & SERVICES

• KUKA ROBOT

• FORCE CALIBRATION
• SERVOGUN TC

• Prepared by : Sharad Ramane

Force calibration carried out only in T2
mode
 SET EG_CAL_T1=FALSE
• GO TO THE FOLLOWING PATH AND CHANGE
• R1 ------ > TP ------ > SERVOGUN TC ------ >
SELECT EG_EXTERN.DAT ----- OPEN
EG_EXTERN.DAT ---- > SELECT FORCE
CALIBRATION FOLD --- > OPEN FOLD ---
CHANGE EG_CAL_T1 = FALSE
 Check Gun Parameters and enter in gun 5P
configuration window.
• First check Gun Gear Ratio.
• Second check max Motor Torque … Eg 5 KN.
• Third Gun TCP orientation . Eg + Z direction.
• Fourth Gun type , X Gun or C gun.
• Max tip ware out . Eg . Eg_wear[1] = 8 mm
 Enter Max motor torque values
• EG. Max motor torque is 4 KN.
• Then enter MAX FORCE DIVIDE BY 5
• 0.8 KN
• 1.6 KN
• 2.4 KN
• 3.2 KN
• 4.0 KN
Note : Enter initial force 0.01 KN in all 5 values
Enter Max motor torque in 5P configuration .

Enter initially
force value 0.01
in all 5 values

Enter here max

torque value
divided by 5
values
Run Eg_cal program

Press Yes.
 Run warm. up program

If NO, Then Robot

Skip warm up
program

If Yes, Robot Perform 10

Times warm up.
Check Force Gauge tool thickness
eg.Enter EG_TOOL_THICKNESS = 12 mm

If NO, Then Robot

Skip Force Gauge
Tool Thickness.

If Yes, Then Robot

Calculate Force Gauge
Tool Thickness
Automatically.
Insert force gauge and press start key

Press OK.
 EG CAL values
• Note down 5 eg cal values in notebook.

• 0.7 KN
• 1.4 KN
• 2.1 KN
• 2.8 KN
• 3.5 KN
Enter eg_cal measured values in to 5p
configuration ..

Enter here measured

5 force values one by
one
 Again Run Eg_recal program and
measured 5 values . If 5 values are ok , then run directly eg_force program.

Follow the same Procedure Slide 9,10,11,12

Run EG_FORCE program and check applied
force and output force
Select force value one by one and note down
the output force values.
 IF OUTPUT FORCE IS SHOWING OK ,
THEN PRESS calculate and save and close

CALCULATE
THANK YOU