Hi there,
I have a KUKA LBR iiwa, and have had a consistent issue with hand guided control. When I put my robot into Hand Guiding mode the 7th axis (the flange) tends to rotate counterclockwise either on its own immediately when hand guiding is activated or it accelerates rapidly counterclockwise when the robot is moved or even if the table the robot is mounted to is bumped, which usually leads to the robot reaching its axis limit, stalling the application. When nudged, the axis will accelerate faster than the axis was pushed, and continues to accelerate counterclockwise until the axis reaches its limit. This problem persists even when I do not have a tool attached to the flange and when I have a very heavy, radially symmetric tool attached. I know for sure that it is not a mastering problem, so I assume that it is a servo motor issue, or possibly a load problem due to incorrect installation of the flange (I plan to check this out soon). If anyone has experience with this issue, please let me know!
Thanks,
-Alex