So, I'm almost at my whit's end with this. Its probably a simple thing but
I have an old GM KR150/KRC2.
1.) I mastered the robot using a dial tool, so I know the mastering pins are all lined up on all the axis. Everything seems fine, i'm assuming the little tilt on A5 is normal? ? (picture attached)
2.) I jog it over to a position that I'm calling "homed". Objective is to move with respect to XYZ(ABC) of the end of the flange.
. So the robot can move in a defined Z/Y plane. Seems easy enough? But no matter what I do, it doesn't seem to like it.
Here is what I have tried so far:
1.) Remastering entire robot - Fail
2.) Using a 4 point routine to define a "fake" tool - Fail
3.) Using a reference tool definition - Fail
4.) Getting it into the homed position - defining $BASE = $Pos_act - Fail
5.) Performing a 3 point Base definition - Fail
I really have no clue what to try next, any ideas are welcome.
Thanks!