[Albert]

KUKA external axes are usually setup so that the base of the system matches the base of the robot when the external axes are set to 0 mm. You should change the value in this image (set it to 0 mm). This will place the base of the rail there.


Also, the fact that the X and Z axis are swapped is a bit strange. It could be because you defined a reference frame not keeping the Z axis pointing up.

If you still have issues, it would be best if you can take a list of points and provide a table including:

• Joint values including external axis
  
• Cartesian values for the tool flange with respect to the axis + robot base
  

你可以把a a first point in the home location and then move one axis at a time.

Albert