Hy everyone !
I am trying change a reference from $PAL_MODE, I have a pal robot with 5 axis, but i want use there in other aplication. I have a tool that have a coupling in the robot in Vertical, for that I need change the reference about A5 axis.
Instead of the flange reference being parallel to the base of the robot, I need it to be at 90 degrees.
if I disable the $PAL_MODE function the robot no longer works linearly, and I need some solution to make the linear movements
if anyone can help me thanks
It is a KR4 8.6 and a KR470-PA