Was wondering if it was possible for a KUKA Robot Arm using a KRC4 controller to continuously rotate Axis 6 while programming the movement of Linear moves using the other Joints? Basically I need to rotate Joint 6 and have the Robot bring a Piece in and out in a Linear move. I do know how to set the 6th Axis to continuous motion in the machine.dat file $AXIS_TYPE[6]=5, but so far when I move it will rotate Axis 6 then when it is done rotating it will make the Linear move.
I want to make the Linear Move while AXIS 6 is continuously rotating.
Is this Possible?