Helo,
I have a Kuka KR120 on a KL4000 rail, both connected with the same KRC4 cabinet and i want to do online programming.
At first i tried not to synchronize the Robot and rail. But i was unable to move the rail online. I think this needs customizing of the Kuka driver....
So now i'm trying to do it with Robot and Rail synchronized but i get weirdmovements when using MoveL.
In simulation all works as expected, also when i choose "generate program as" and copy the src-file with a usb drive to the robot it works well.
But when i choose "run on robot" only the joint movements are as expected, the linaer movement drifts away to a complete different direction.
I think that my reference frames are ok, i see the same cartesian coordinates in Robodk and Kuka Touch pad. Maybe there is a problem with the Kuka driver?
Can you please take a look at my station attached?
Thank you
I have a Kuka KR120 on a KL4000 rail, both connected with the same KRC4 cabinet and i want to do online programming.
At first i tried not to synchronize the Robot and rail. But i was unable to move the rail online. I think this needs customizing of the Kuka driver....
So now i'm trying to do it with Robot and Rail synchronized but i get weirdmovements when using MoveL.
In simulation all works as expected, also when i choose "generate program as" and copy the src-file with a usb drive to the robot it works well.
But when i choose "run on robot" only the joint movements are as expected, the linaer movement drifts away to a complete different direction.
I think that my reference frames are ok, i see the same cartesian coordinates in Robodk and Kuka Touch pad. Maybe there is a problem with the Kuka driver?
Can you please take a look at my station attached?
Thank you