Hi,
I am having trouble mirroring my program.
I am using two KR10s and KRC4s. I have a program written for one KR10, where it is picking objects on its left, but the second KR10 needs to pick from
its right. I have tried using Orange Edit's mirroring function.
The original point was:
XSTART={X 51.0018768,Y 979.180542,Z -504.345398,A -88.3923111,B 6.53244877,C 178.793503,S 2,T 9}
Once it was mirrored it became:
XSTART={X 51.00188,Y -979.1805,Z -504.3454,A 88.39231,B 6.532449,C -178.7935,S 2,T 32}
This seemed to be correct since I need to mirror over the Y axis, and I also expected the Turn value to change.
When I execute this program, I get "software limit switch cannot be reached -A1" but A1 is in working range.
So then I tried mirroring using the Teach pendant with Edit->Marked Region->Axis mirroring.
Same issue. I even tried Transform - Axis Specific for just A1.
Any ideas what is happening with these transformations?