No Rotation of Axis 6

[gwmi224]

Hi, I am working to get a Kr6 r900 fivve to weave. We circle around pegs and then hook the string. The Kr6 axis 6 is not rotating. While in the simulation it does. I am unsure if this is a configuration problem, or a grasshopper problem.

[Johannes @ Robots in Architecture]

Hello,

But if it is a fivve version, it is missing the sixth axis. Could that be the reason?

Best,
Johannes

[gwmi224]

It is missing the 4th. From what I can gather with the operations we are performing the rotation of 4 and 6 are the same, so should it run 6 instead. Also from the simulation it uses 6.

[Johannes @ Robots in Architecture]

Sorry, I phrased that wrong - you are right of course that A4 is the missing axis compared to the regular 6-axis version.
If you say that A4 and A6 are doing "the same", does that mean that A5 is 0? Then you are in an area that is a singularity for 6-axis robots. If KUKA shares a lot of code with the 6DOF version, then this might still be problematic with your 5DOF robot.
What kind of movements are you using? PTP? LIN? Axis?

Best,
Johannes