[rett84]

I think there is a bug in RoboDK in the translation of each axis angle position to the cartesian system(with Kuka robots), or I am missing something.

Running a program to update the robot tool does not fix the issue I am having.

Here is what found runningMoveJandMoveL:

MoveJ:

Commanded J Values(deg RoboDK) | Final J Values(deg RoboDK) | Final J Values(deg Kuka Pendant)
J1-------------------0.05------------------------|-------------0.05-------------------|-------------0.048-------
J2------------------(-92.24)---------------------|--------------(-92.24)-------------|------------(-92.24)---------
J3-------------------78.20-----------------------|-------------78.20-----------------|-------------78.20---------
J4--------------------(-0.07)--------------------|------------(-0.07)-----------------|-------------(-0.07)---------
J5-------------------103.82---------------------|-------------103.82----------------|-------------103.81---------
J6-------------------0.07------------------------|-------------0.07-------------------|-------------0.072---------

Commanded Cart. Values(mm RoboDK) | Final Cart Values(mm RoboDK) | Final Cart Values(mm Kuka Pendant)
X ------------------- 892.336 --------------------|-------------892.335-----------------|-------------819.55-----------
Y--------------------(-0.616)-------------------|-------------(-0.616)-----------------|--------------0.54-------------
Z-------------------1368.040-------------------|-------------1368.040---------------|-------------1495.41-----------
A-------------------(-179.959)-----------------|-------------(-179.959)--------------|-------------(-179.959)--------
B-------------------0.222-----------------------|-------------0.222--------------------|------------0.222---------------
C-------------------179.929--------------------|-------------179.929-----------------|-------------179.929--------------




MoveL:

Commanded J Values(deg RoboDK) | Final J Values(deg RoboDK) | Final J Values(deg Kuka Pendant)
J1-------------------0.08------------------------|-------------0.08-------------------|-------------0.078-------
J2------------------(-99.14)---------------------|--------------(-97.75)-------------|------------(-97.74)---------
J3-------------------86.09-----------------------|-------------97.81-----------------|-------------97.81---------
J4--------------------(-0.07)--------------------|------------(-0.07)-----------------|-------------(-0.06)---------
J5-------------------102.84---------------------|-------------89.71----------------|-------------89.71---------
J6-------------------0.10------------------------|-------------0.12-------------------|-------------0.115---------

Commanded Cart. Values(mm RoboDK) | Final Cart Values(mm RoboDK) | Final Cart Values(mm Kuka Pendant)
X-------------------812.96--------------------|-------------838.735-----------------|-------------813.04-----------
Y--------------------(-0.961)-------------------|-------------(-1.00)-----------------|-------------(-0.962)-------------
Z-------------------1348.648-------------------|-------------1198.0---------------|-------------1348.36-----------
A-------------------(-179.953)-----------------|-------------(-179.96)--------------|-------------(-179.959)--------
B-------------------0.220-----------------------|-------------0.219--------------------|------------0.21---------------
C-------------------179.932--------------------|-------------179.93-----------------|-------------179.93--------------



With a MoveJ command, the final joint angle readings in both RoboDk and Kuka pendant match but the cartesian positions reading do not match.

Whereas with a MoveL command, the cartesian commanded and final(on Kuka pendant) match but not the cartesian on RoboDK readings.

Given that running a program to update the tool does change the above behaviour what else can be done?