some of your dh parameters are completely off.

Before overwriting the official ones you should try to solve this problem first

This depends of J4 joint:

Example:

J4 = 0; J5 =90 => nonflipped

J4 = 180; J5 = -90 => flipped

Or as Nation stated vice versa

There is actually another big problem: LASER

Normally a laser cell should be completely shielded by a wall. Windows to look inside normally are very small and very expensive.

Using a camera system mounted to the tool could solve the problem by having everything sealed and also see the path.

For simulation of the movement a simulation tool would be very helpful

bokodimate

what's about SPOC in your country?

there also exists usb ps2 adapter dor keyboard and mouse.

I get this adapter as part of my usb key board

Quote from Daniil1994

So, to properly check whole path with artificial points I shall use previous points as starting point for next check?

yea that it is, getting the shortest way to dest. This is called L2 norm

Why not just use the outputs for $T1 and $T2 ANDED to your output?

For T1, T2 , AUT and EXT a different output is set

@SkyFire

Is Kawasaki LHR or RHR?

This would really have helped in march and october.

But, why do it the easy way if there is a more complicated way to do it?

following panic modes suggestions:

home made cables are not less expensive (correct type of cable, required tools, proper connection material) but more dangerious (cable length, wrong shieldung, wrong internal wiring) and even more important loosing warranty

the answer is and was post #2

It seems, that kuka finally woke up and allows you to get the actual time with $DATE_HOST!

Next question would be: what KSS Version?

What type of kuka controller?

(if we continue this question answer game then you problably wil have the final result in 10 years or so)

The kuka plc I was working with is called ProConOs (IDE: Multiprog wt).

There are several function blocks having direct access to the robot base system (like $POS_ACT_MES - 12ms)

Suggestion: check with KUKA

(you need this soft plc from kuka because they provide you the kuka specific function blocks)

One option (especially for press lines) could be a soft plc (from kuka) having direct access to actual robot position in real time

If tool (error 1419) and base (err 1418) are not defined then the result is undefined (err 1422).

check with your welding specialists for correct welding parameters

Actually I just remembered (back in 1990) KUKA used Siemens Sirotec RCM as Robot controller.

The orientation was also LHR (Angle A: math. positive, Angle B: math. negative, Angle C: math. positive)

(so it always was RHR- sorry for the confusion)

They made the calculation using RHR and then inversed Angle B

Could this be the same with your described problem?

But as I said the was decades ago

check this out.

@SkyFire

you also may check post #35 (pose calculator)