Hi everybody,
I'm commissioning a KR8 R2010-2 with a DKP-400-V1 controlled by a KR C4 (KSS 8.6) including ArcTechBasic 3.3, ArcTechAdvanced 3.3, TouchSense 3.2, ArcSense 3.3 (and RSI 4.1).
As part of the commissioning, we are providing 5 recipes including a pipe to pipe (butt joint with 5mm gap between the pipes).
The fixture is installed on the positioner, with the positioner at 90deg and rotating 360deg while the robot is "staying in position" (see attached zip file containing images, video and program for a clearer explanation). The working base of this program is link to the positioner base.
Because of the nature of the weld, weaving is required but after a 1/4 turn the path shifts (see the sketch and the video - sorry for the quality of the video the environment light was a bit dark).
If I remove the weaving, the path is fine and doesn't shift but as soon as I add the weaving this shift happens.
I contacted Kuka support about it, they asked to update ArcTech package but instead of shifting after a 1/4 turn now it shifts after 1/2 turn. They came back saying that it might comes from the touch sensing corrections but this is one of the first thing I tested (commenting out all corrections) which resulted in the same shifting - they haven't came back since then and this is an open issue since start of December.
Does anyone encountered similar issue? Or anybody have any suggestions I could try?
Thanks for your help