Hi,
I am new to kuka robot programming. I have an old kuka. Plate on the robot says it is a KR 150/3 but info screen on pedant says it is KR 2210. I am trying to draw rectangle on the ground but the flange not moving paralel to ground with LIN command. Video and the code below.
Thanks for help.
Video link: Code in action
Code
DEF test9()
BAS(#INITMOV,0)
$ORI_TYPE = #VAR
$CIRC_TYPE = #BASE
$VEL.ORI1 = 200
$VEL.ORI2 = 200
$ACC.ORI1 = 100
$ACC.ORI2 = 100
$ADVANCE = 2
$ACT_EX_AX = 0
$BASE = $WORLD
$TOOL = $NULLFRAME
PTP {POS:X 1576.000,Y -4.000,Z 1395.000,A -172.000,B 83.000,C -172.000}
PTP {POS:X 2024.020,Y -13.190,Z 1114.000,A -175.000,B 76.000,C -175.000}
LIN {X 2221.140,Y -13.190,Z 1114.000,A -175.000,B 76.000,C -175.000}
LIN {X 2223.050,Y -261.990,Z 1114.000,A -175.000,B 76.000,C -175.000}
LIN {X 2024.020,Y -265.810,Z 1114.000,A -175.000,B 76.000,C -175.000}
LIN {X 2024.020,Y -15.100,Z 1114.000,A -175.000,B 76.000,C -175.000}
LIN {X 2024.020,Y -15.100,Z 1134.000,A -175.000,B 76.000,C -175.000}
END
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