Our system is KRC4 8.5.7 HF1 and KR 90 R3100 extra HA.
The robot will be mounted on a linear track, custom made, but with Kuka motor.
In our application the robot wil have to go to a position 1 in the cell to do a job.
For this position the robot axes as wel the track wil have to be on the right position.
But there is also a position 2, where the robot will exchange its tool.
But position 2 is connected to the flange of the track. Also the robot must be able to to go to position 2
no matter where he is on its track. So it has to be trackposition independent (contrary to position 1).
If I teach position 2 (with touchup), the trackposition wil be tought in to. So executing a motion
to the tought position 2 will also move the track to the position where i touched up.
What I want is that the robot axes go to the tool exchange position but that the track stays where it is.
The only way I achieved this so far (in simulation) is by teaching position 2 as E6AXIS position and when
executing the PTP motion only use the A1 to A6 values, not the E1-E6 values.
Is that the only way to achieve my goal, or are there other (better) ways of programming this situation?
Thanks.