We have a KR 210 R3100 ultra that displayed A1 backlash issues from the start with no spindle mounted.
After mastering and using kuka.load.determination to determine the load on the flange, nothing changed.
It is very noticeable on entry and exit moves even at the slowest feeds.
I reviewed the comments here Backlash Determination
to help pinpoint the axis causing the issue.
I reviewed the comments here shaking arm on short distances movement
where it was stated that KUKA modified the MADA data of a robot mounting on an angle to fix it but after our tech contacted them,
they said that they don't do that.
And many more to no avail. Before we can get a tech to come look at it, we were told to use a 45 degree flange mount to eliminate
the backlash. This is the second robot we had. The first, a KR 270 R2700 ultra had no issues and was a very solid machine.
We had the tech review the src files and KRCdiag and he can't find anything wrong with the data or configuration.
What could this be? Is it possible that at 45 angle mount will fix this?