LINEAR MOVES TOOL ORIENTATION

    Hi! I have this movement:


    LIN TelecameraSX_Lato_A Vel=2 m/s CPDAT64 Tool[1]:Faccia_A Base[0]
    LIN OverDepPressa1A Vel=2 m/s CPDAT56 Tool[5]:Faccia_B Base[0]


    Here A6 makes a 180° rotation from XTelecameraSX_Lato_A


    What I need is to move linear from XTelecameraSX_Lato_A to XOverDepPressa1A with a 180° A6 CCW turn but it choose to turn CW instead. How can I force it to turn CCW.

    bring it manually to position you need and touch-up point
    if that does not work, add intermediate point or take Kuka training Programming2

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    For any motion command, the robot chooses the most direct path. But an exact 180deg rotation change creates a situation where turning CCW is just as valid as turning CW. As such, which way the robot turns could be determined by the "noise" in the axis encoders.


    Generally, you can disambiguate this by using a motion that is even just slightly less than 180deg -- 179deg might be enough to fix the problem. Otherwise, an intermediate point at ~90deg is probably the simplest fix.

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