Hi,
My lab has a KUKA lWR IV+ with a KRC2. My recent problem is that when the robot is at the home
position ( vertical, as seen at the attached picture ), the joint values should
be all zero, but the robot is saying that the value of Joint2 is 90 although
the robot is in home position. I want to know if I can change this, so when the
robot is at the home position as seen in the picture, the joint measurements
will be (0, 0, 0, 0, 0, 0, 0) and not (0, 90, 0, 0, 0, 0, 0). I changed the home position values from the $config.dat file but the robot moved backwards to go to home position, meaning that the zero value of the Joint 2 is when the robot is horizontal backwards compared to the picture. Can someone tell me if i can change this somehow, or if its a configuration of the robot's motors?
Thank you in advance.