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I solved my problem. It was wrong machine data. Thanks a lot for your help. But now I have new questions. Can the prc convert motions from grasshopper to circ-motions, but not only in lin. My circle divides into a many lines. It's very bad.

Hello,

Thanks for answering!
I'm begginer in this field. But I understand difference between mastering and calibration. I have no EMT tool, and had to do it by the notches. And I fuzzily imagine how to calibrate tool and base correctly. I did it yesterday for tool by 4 points, and for base by 3 points.

Hello,

If your robot is doing an ellipse instead of a circle (and a curve instead of a line when you move it manually in XYZ), most likely an axis is not properly calibrated.
So you will need to calibrate it again. Do you know how to do it, do you have the tools?
There is the proper way with an EMD, and there is the DIY way that basically just requires some stick and sensible hands ;)

Best,
Johannes

Yes, in xyz mode movement is an arc instead of line too. But I calibrated axis, and the problem is not gone. How do I must  to set up the coordinate system in prc and in kuka?

Hello!
I'm using krc1.
Do anybody know why motions of my robot is really different then it was in grasshopper? For example: circle in xy plane in grasshopper robot draws ellipse in vertical plane?
Thanks!!