Hi guys,
KRC4, KSS 8.3.X
I have a very precise application where I need to essentially tilt the X/Y axes of my tool. I am using the A/B angular positions for this. I am reading in a text file which contains the angle I wish to move the A/B axes, and then using this value create a FRAME with only A or B populated then perform a LIN_REL motion. The angular increments are in the neighborhood of 0.1 degrees and 0.05 degrees. I know these are very small amounts, but the KUKA is not behaving as I would expect. I will job +0.1 degrees in A, then -0.1 degrees in A, yet not end up close to where I started.
Can anybody speak to if I want to use a LIN_REL vs. a PTP_REL or any other parameters that could help me achieve what I am looking to do? I worry that the angular increments may be too small for the robot to handle properly. Yet what gives me hope that this can be achieved is that when I go to manually jog the machine in T1 and use A/B I can perform these angular motions extremely precisely.
Does anybody have any thoughts/experience doing this?
Thank you in advance.