Hello!
Control type: KR C2
Robot type: KR 150 L150
Software Version: V4.1.6 SP3
I have not been able to solve why my KR150 will not follow it's programmed path. I have incorporated an external kinematic (turntable) and when running a program for it, the end effector (1/2" flat mill for milling) seems to be following the path of the E1 axis (linear movements that circulate) rather than its programmed path that shows up in the simulation (basically staying in one spot and moving vertically with every contour step).
At first, I thought this was because there's a wrist singularity at the beginning of the code, but then I fixed that and still the same problem.
This also happened without the use of the E1 while running a program months ago (the end effector ran in a circle instead of following it's path), but I simply changed the code by drawing one connected path for it to follow continuously, rather than relying on the robot to know how to move through a list of contours. That fixed the problem.
To me, it seems like there's a disconnect between the robot's position and it's programmed position. It's not able to follow a program unless the program simply asks it to trace a line, which doesn't really require the robot to know much about it's actual position in space, right? I feel like this means that it doesn't actually know where it is and where it's end effector is in space. I just don't know what would cause that.
Also, the robot is mastered with an EMT and external kinematic is mastered with a dial and the root point of the turntable has been calibrated. The reference tool (1/2" flat mill) has also been calibrated with XYZ 4 Point.
((side note: I've received the *attached* Cross3 error twice and had to solve it before I could open KSS at the time. The first time I solved it by replacing the RAM, and the second time I solved it by replacing the Motherboard. Today, I am receiving a Windows error with the same syntax, and it goes away after rebooting a few times, and I'm also able to still use KSS behind the error message. Could the Cross3 and this current "<unknown>" error be linked? Is it possible I have to reinstall Windows? And in turn, could that be causing problems with the robot position?))