Hello everyone
I really need your help with this. I have found a lot of answers to my problems here, but not for this one.
Even the KUKA technician couldn't solve it.
The problem is this....
I have a KR60 robot mounted on a KL1000-2 linear unit with a KRC4 controller with KSS8.3.
When i make a manual jogging of the external axis E1 everything is fine (Axis mode). The problem is when i try to jog in a cartesian mode (WORLD, BASE, TOOL), it is suppose that the TCP must remain still as I jog in E1, but this does not happen. When i jog in any of this modes, the tcp is displaced!!!!!! although the system display the same cartesian coordinates (XYZ, ABC) as the robot is jogging.
The KSS8.3 manual states that if this happens, a calibration of the linear unit is needed, and it describe the process as it must be done with the teach pendant.
So, when i proceed to calibrate the linear unit following the steps, i get the next message...
I guess it has to be with a variable in the machine data or something like that but i couldn't solve it... so i restored the proyect as it was, with the original problem.
I have two robots and i get the same problem with both of theme.
I would really really appreciate your help!!!
P.S: I attach the picture.