Hello everybody.
We have recently borrowed an RS20N robot from Kawasaki to do some milling trials. I have a lot of previous experience milling with KUKA robots. I am having a really hard time getting a TCP that is even remotely good for milling! I have taught literally hundreds of TCPs before for milling and never had any as bad as this.
I am using the XYZOAT method, teaching the 4 points then the 2 positions in X and Y. I am using 2 stainless steel spikes made on a lathe so I know they are straight and accurate. I am not getting any errors on the pendant saying my angles were too narrow.
After teaching the TCP and selecting the appropriate tool, when I rotate around the point, it drifts horribly, about 4-5mm away from where it started! I am new to Kawasakis so don't really know what to do to try and fix this. Any help would be greatly appreciated!