I have found a problem with my KR10 1420. (With KRC4 compact controller. Software 8.5.5)
I am using the robot for moving a camera. Often I am seeing small bumps in the movement when axis 6 starts moving or changes direction. There appears to some backlash but I have noticed something else strange, and I wonder if this is normal?
Please refer to the attached video. I am jogging axes 5 and 6 with the HMI buttons in T1, one at a time, at minimum speed of 1%. The outer pulley is axis 5 and the inner pulley is axis 6.
Axis 5 jogs smoothly while axis 6 does not. It moves instead in small steps. It appears as though it has a lower resolution than the other axes. (All the other axes are also smooth without this stepping effect.)
Once I jog a little faster then A6 runs more smoothly, but the starts are still a bit ragged... this is a problem when filming with a camera as it is quite visible in the recorded image.
So - is this standard behaviour for Kuka robots? Or is there perhaps some setting that might effect this?