looking for some advises/comments clearing my problem. I'm going" " trying to force my KRC1 to keep tool in parallel/perpendicular position.
I bought it several months ago with illegible model number, but after some research i determine, that it should be KR200/2 TJ(because of ZH 200/2 with mounting of A3 bearing plate divided on 3-Tejin). First of all, i have copied fresh MADA from D drive, done mastering and ABC World measurement for the Tool. Robot was doing strange twisting of A,B,C axes eg. when i was moving only along X axis in manual world mode it was leaning also B axis, along Y using A axis.. The same with PTP and LIN motions, it was moving A,B,C axes to reach desired position, instead of keeping the flange in constant orientation.
I spent a lot of time reading manuals and topics but do not have any ideas. Was trying MADA's for all KR150 and 200 taken from D:/.
Please me to understand and fix it.