Kuka Robot KR 6 R900 sixx: Turned 90 degrees away from the Pick position

Quote from lekanoje

Robot just turned 90 Degrees away from the pick point.

So, 90deg on Axis 1? Details matter.

In the program, Base 1 is used, but there's nothing to indicate how Base 1 is set up. Is it the same between the simulation and the real robot? That's the most likely source of the problem.

As SkyFire mentioned: Details matters.

$BASE.A = 90.0 deg (this could explain your 90 deg rotation).

A screen shot of the hpu could also be very helpful

What is the actual position of the robot (from picture)?