These day I faced an issue of bad work KUKA.TouchSense technology package. May be something wrong with my programminge skills or maybe something wrong with the KUKA add-on technology package, I don't know. But it works not quite correctly. When I make workpiece offset TouchSense software corrects originally programmed path, but it does it not so good. What I mean? You can see result on a video.
1. No workpiece offset, originally programmed path, touchsense is off:
2. No workpiece offset, touchsens is off:
3. 2D offset, touchsens is on:
4. 3D offset, touchsens is on:
Can somebody explain, what's wrong with performing of TouchSense?