I'm wondering if it's normal for the KR6 R700 to have clicking noise when A4 to A6 axis is moved.
On my robot, the A4 clicking noise is quite noticeable, A5 A6 is more quite.
When the robot was delivered new from Kuka, it was already clicking, the engineers that did the setup didn't seem bothered by it, the following engineers that come to do repairs and upgrades also never commented on it, so I was under the impression that it's normal.
Recently I had a visitor to the lab told me that the clicking is abnormal?
They click whenever their direction changes, regardless of speed, clicking on A4 can be hear when I physically twist that axis (axis doesn't move, but i'll hear the click)
in term of movement, it seems OK, nothing major enough to cause concerns.
Attached are two videos of the clicking sound, one when A4 being twisted physically and another when running a program.