Hi I'm using a KR500 with a KRC 4 with KSS 8.6.5.
I am handling some 5'x12' sheet metal with a vacuum gripper and am trying to move from a position with the sheet parallel to the ground into one where the sheet is perpendicular to the ground. The relevant section of code looks like this:
$VEL.CP = .1
$ACC.CP = .1
LIN_REL {Z 1000}
LIN_REL {X 1000}
$OV_PRO = 30
LIN_REL {A -90}
LIN_REL {B -90}
During the LIN_REL{B -90} move, the sheet tilts in the -C direction about 10-20 degrees before correcting and completing the 90 degree move to where it is supposed to end up. I want the edge of the sheet to remain parallel to the ground throughout the duration of the move. I know the robot can make this move because I can jog it through the exact series of moves I want it to make in T1 mode and the tilt is not there. I've included a GIF of the move in question. What am I missing here?