Hello Robot-Forumers,
I have a problem detecting which direction the axis of the robot approached a position after the robot moved linearly. I use this to find out whether I need to remove backlash on any of the 6 axes.
I have a horizontal SCARA arm, 6 axis, KRC4 v8.3.14 robot. There are some linear moves (rotations around TCP, or long translations) where the A2 and A3 move both positive and negative during one linear move.
What would you suggest I do to monitor the last degree of change in axis position on all the axis during linear motions?
Thanks all you experts, Del