We are using a tool that never needs to rotate the A06 Axis, and while it's ok to do for the most part, we have a PTP move command that is only a 20° rotation, yet the robot decides to go 340° in the opposite direction to achieve it. Is there a way to set the limits of the A06 rotation, or disable it entirely?
Hello,
You can set the rotation to infinite, meaning the robot will take the shortest path. For the KUKA|prc simulation that means simply right-clicking a robot component and selecting the infinite A6 option. On the actual hardware, you can set the axis type in the $machine.dat if I remember correctly. Of course infinite rotation means that you could easily wind up cables as well.
You could also use the TURN value of a PTP movement to define whether A6 is positive or negative in that particular example.
I'm not sure if disabling the axis is feasible, that would probably be a question for KUKA support. I could imagine that you could mess with the gear value of the axis, so that the robot thinks that it's moving a lot while it is physically only moving a tiny bit. That would be pretty "hacky" and the simulation would not fit the physical robot anymore.
Best,
Johannes
Oh those would both solve this perfectly, thanks!