Thanks for the response. Sorry, I've been busy with some other things so haven't had a chance to play around some more with the turntable until now. Also, I'm aware that the issues I'm having are slightly more from the system integrator side of things rather than the KUKA prc side of things, so thank you for your help!
So I'm still not 100% sure about whether the turntable is set up correctly. I can't seem to get it to jog while keeping the robot tool TCP and external axis reference point moving together. And I've tried trawling through the machine.dat etc and the turntable does seem to be set up correctly in terms of allowing synchronous movement etc. but I've not been able to do as you suggest to:
Quoteyou move the turntable in a Cartesian mode and the robot keeps its position in relation to it
Otherwise, the config.dat for the bases looks fine.
The one bit that is a little suspicious to me is that the frame for external axis in the machine.dat is all blank?
Further to that, why does the external machine have a root in the config.dat as well? Should the Z value here actually be 0.0 and then in the machine.dat then FRAME $ET1_TA1KR should have Z = 686?
And then I suppose the final piece of evidence I have for things going wrong is that if I actually select a base in KUKA prc and try to run this on the robot then all I get is a software limit switch error after the robot has reached the start/home position and when it tries to do the first PTP move.
Its not a riveting watch but here is a video of me calibrating the root point of the external kinematic system. Am I doing something stupidly wrong here? I still don't really understand why the error is in the 10s of millimetres really? https://youtu.be/TJX9cj7bfwA
From the KUKA prc side of things, do you know which values/calibration/coordinate system in the plugin is responsible for the some sort of an offset between the X and Y values of the target planes I provide vs what actually gets spat out into the KRL? I.e. if I gave it a target plane of X 10, Y 20, Z 30, is there a way in KUKA prc (I guess not using bases and frames) of having the KRL have that same plane translated to X 20, Y 30, Z 30, effectively with an offset of X +10, Y +10, Z 0?