KUKA KRC4 KR6 R700 fivve Issue with Cartesian coordinate system

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    Dear,

    We bought second hand robot from topic and we have problem with selecting and jogging robot in coordinate systems. We can not select neither of coordinate systems (WORLD, BASE, TOOL not available) only what is available is jogging by AXIS. Also when we press enabling buttons immediately appear error on KCP: Cartesian target point not accessible.

    Variable $PAL_MODE is set to FALSE in SYSTEM-SPS

    Bool $DEF_A4FIX=TRUE is set in $MACHINE.DAT

    Bool $DEF_A5LINK=FALSE is set in $MACHINE.DAT

    We need this robot to work in not-palletizing mode in Cartesian coordinate system (X,Y,Z).


    Best regards,

    Thank you in advance.

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