Hi,
I am new in this forum and new in the kuka robot programming.
I have the following problem:
After starting the RSI Programm in the KRL program code (RSI ON) the control algorithm works if I use MOVECORR in free space but does not work if I use a PTP command.
It seems like the FT-Control under a PTP command was not implemented correctly by me.
Do you have any suggestions how to program a PTP movement with a FT control?
I programmed a simple P and PI FT-control in RSI. The RSI program structure:
The FT data is delivered from an ATI FT sensor, goes through the control structure, a filter and finally to the POSCORR-Object.
Thank you very much for your help and if you need any further informations pleas feel free to ask.