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Actually, I just solve the problem by entering the master value of E1 axis of the robot, which was calibrated by the service to a different value than 0. As you said, robot was acting different than the simulation because the digital twin was not correct.

Thank you for your support! Have a nice day.

Hi Johannes,

Thanks for the assist. I made the digital twin accurate.

Even though X and Y values for LIN movement should have same values with the begining through the program, somehow, it decides to turn with the rotary table. Why do you think it behaves like that? May it be about the rotary table velocity or something else?

Please have a look the documents attached:

Bests

Hello,

I have a robotic system consist of KUKA KR200 KRC2 ED05 + custom rotary table. I encountered with this situation that the robot is not operating as the simulation made. I share both simulation and robot videos. I will be waiting for your ideas leading me to the solution.

Bests,