Extra rotations of toolhead being added?

    >Sigh< One step forward, two steps back... :icon_rolleyes:

    I have my KR 30/2 milling on the plane I want, I've gotten rid of any/all collisions...but now I'm getting these goofy extra, seemingly unnecessary 180 degree "A" rotations of my toolhead (sixth axis).

    Here's the code:

    DEF TEST113013XZZX()
    BAS (#INITMOV,0)

    $BASE=BASE_DATA[1]
    $TOOL=TOOL_DATA[1]
    $VEL.CP=0.167
    PTP {A1 9.046, A2 -54.577, A3 96.635, A4 -180.000, A5 -47.942, A6 9.046}
    LIN {X -100, Y 31.64, Z 44.21, A 180, B -90, C 0} C_DIS
    LIN {X -80.8} C_DIS
    $VEL.CP=0.003
    LIN {X -50.8} C_DIS
    LIN {X -30.8} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 54.21} C_DIS
    LIN {Y 31.64} C_DIS
    LIN {Z 34.21} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 44.21} C_DIS
    LIN {Z 54.21} C_DIS
    LIN {Z 64.21} C_DIS
    LIN {Y 31.64} C_DIS
    LIN {Z 74.21} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 84.21} C_DIS
    LIN {Y 31.64} C_DIS
    LIN {Z 94.21} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 104.21} C_DIS
    LIN {Y 31.64} C_DIS
    LIN {Z 114.21} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 124.21} C_DIS
    LIN {Y 31.64} C_DIS
    LIN {Z 125.28} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 124.21} C_DIS
    $VEL.CP=0.167
    LIN {X -100, A -180} C_DIS
    LIN {Y 31.64, Z 84.21, A 180} C_DIS
    LIN {X -60.8} C_DIS
    $VEL.CP=0.003
    LIN {X -30.8} C_DIS
    LIN {X -15.8} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 94.21, A -180} C_DIS
    LIN {Y 31.64} C_DIS
    LIN {Z 74.21} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 64.21, A 180} C_DIS
    LIN {Y 31.64, A -180} C_DIS
    LIN {Z 54.21, A 180} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 44.21} C_DIS
    LIN {Y 31.64} C_DIS
    LIN {Z 34.21, A -180} C_DIS
    LIN {Y 122.1, A 180} C_DIS
    LIN {Z 44.21} C_DIS
    LIN {Z 94.21, A -180} C_DIS
    LIN {Z 104.21, A 180} C_DIS
    LIN {Y 31.64, A -180} C_DIS
    LIN {Z 114.21, A 180} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 124.21} C_DIS
    LIN {Y 31.64} C_DIS
    LIN {Z 125.28} C_DIS
    LIN {Y 122.1} C_DIS
    LIN {Z 124.21} C_DIS
    $VEL.CP=0.167
    LIN {X -100, A -180} C_DIS
    PTP {A1 0.000, A2 -90.000, A3 90.000, A4 0.000, A5 0.000, A6 0.000}
    END

    See the attached image; the simulation runs fine in SprutCAM, and it sure doesn't show any of those goofy extra rotations. I tried manually removing all of the extra rotations in the .SRC file in OrangeEdit, and now the toolpath runs fine on the physical robot. no problems whatsoever.

    I'm asking about this here first because I suspect that maybe there is some kind of "Kuka is playing it safe" factor that I'm not aware of. (?) :hmmm:

    I will definitely alert SprutCAM to this....but I trust the general robot knowledge here more. Thanks in advance! :icon_mrgreen:

    Well, the first thing that jumps out at me is that you have A values of -180 and +180 in close proximity -- that sets off alarm bells. Since the robot never really achieves a perfect 180, you could easily be hitting a situation where the shortest route from +180 to -180 or vice versa is to rotate in the opposite direction you were expecting. Basically, if you command a 360 rotation, it's a crapshoot which way the robot goes.

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