I teach a Robotics course with four Kawa RS03N arms with E76 controllers. No student damage, fresh batteries and re-zeroed. We use a simple Tool-Z axis pointer tool for most exercises.
One robot started recently (after good behavior) to exhibit Tool Mode motion that is not oriented correctly. Wither NULL Tool or Aux Function T1 = {0, 0, 128, 0, 0, 0} invoked I get this motion on pressing the TP buttons:
- Press +X: TCP moves +Tool-Z
- Press +Y: TCP moves -Tool-X
- Press +Z: TCP moves -Tool-Y
Behavior is like the Tool Coord Sys has a RX(+90) and then a RZ'(+90) rotations.
This occurs with any Tool transform invoked.
Base Mode motion moves correctly in all axes.
I've checked various things:
- QTOOL = OFF
- no other tool definitions active
- BASE Coordinate System has not been modified
I have requested help in diagnosing this directly from Kawasaki and have not gained any traction with those guys.
Can anyone suggest a diagnostic path to figure this out?