Something is quite off regarding the kinematic model. I would double check that the robot kinematics is correct.
We can validate if the robot is properly modeled in RoboDK by simply checking a list of points. Make sure you remove the tool and the base frame so that the tool is the robot flange and the base frame is the robot base. You can then validate for any joint values if the robot pose is correct (RoboDK pose vs KUKA teach pendant pose).
The tool is flipped because the robot model is quite off.
Also, once you are done with the base setup and tool setup, if you check "Follow target" the laser tracker should point at the target/SMR. This accuracy should be within 2-5 mm. We are currently seeing an average position error of 170 mm. This is far too much and it should be in the order of 5 mm. This is probably because of different nominal kinematics. I would double check that the robot arm is correct. You could even measure the distance between links (roughly with measurement tape) to make sure nobody changed any robot links, we have seen this with used robots.
We can validate if the robot is properly modeled in RoboDK by simply checking a list of points. Make sure you remove the tool and the base frame so that the tool is the robot flange and the base frame is the robot base. You can then validate for any joint values if the robot pose is correct (RoboDK pose vs KUKA teach pendant pose).
The tool is flipped because the robot model is quite off.
Also, once you are done with the base setup and tool setup, if you check "Follow target" the laser tracker should point at the target/SMR. This accuracy should be within 2-5 mm. We are currently seeing an average position error of 170 mm. This is far too much and it should be in the order of 5 mm. This is probably because of different nominal kinematics. I would double check that the robot arm is correct. You could even measure the distance between links (roughly with measurement tape) to make sure nobody changed any robot links, we have seen this with used robots.