This is is a bit of an add-on to a previous topic ( http://forum.robotsinarchitecture.org/index.php/topic,817.0.html
), but I am still struggling with the issue of the robot not following it's programmed path. I've attached a video, the Rhino and .gh files, and the final .src file.
Control type: KR C2
Robot type: KR 150 L150
Software Version: KSSV4.1.6
In this video, it shows the flange almost following the LIN movements that the E1 is following, but in the opposite rotation direction. This is instead of following the robot flange path in the simulation.
I have encountered this problem before the integration of the A7 axis as well. At that time, I was trying to mill a curved surface out of a piece of foam, and I initially just gave KUKA|prc contours to vertically move between and mill. When running the program, the flange did a very similar circular movement to the one in the video, rather than its simulated motion. I solved this problem by connecting the contours of the curved surface into one closed polyline, so that the flange just simply had to trace the path (creating a toolpath essentially) and that solved the problem.
I don't really see how it would be a KUKA|prc issue - because the KUKA Core Analysis is all clear - but I'm posting just to get another check that it is not an issue of the .src file that I am inputting.
- I've gone through all of the variables in the machine.dat and made sure that it was the correct machine.dat for the robot type (ref http://forum.robotsinarchitecture.org/index.php/topic,511.0.html
- To the best of my knowledge, A7 is configured correctly.
- The tool is XYZABC calibrated and the same XYZABC values are entered in KUKA|prc and on the robot.
- Robot is mastered with EMT and A7 is mastered with a dial.
- Root Point data for the A7 was entered numerically by positioning the TCP of the reference tool at the center of rotation and displaying $POS_ACT, and then entering in those values for the Root Point.
Any ideas are appreciated and welcome!