Unexpected behavior of KR60/30

Started by AlvaroLRD, September 27, 2016, 12:51:45 PM

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Dear All,

I have a problem running a very simple program. i have set a new position for the robot, (it has a  positive rotation  of 45 deg. in Z) and i have also set a new starting point
for the program. When i run it the initial target is ok, but after this, the robot start an unexpected rotation in A1 which has no sense at all. In the simulation everything looks
alright, so if anyone has any thought it would be very helpful. Thank You very much.

Johannes @ Robots in Architecture

Hello Alvaro,

What are you referring to as a new position for the robot? The base coordinate system? Or the $ROBROOT, i.e. the orientation of the robot's internal coordinate system?