I appreciate your response above, and I should elaborate on my issue and perhaps you might be able to help me better understand the problem. My robot came from a car assembly line, and I am currently in the process of setting it up for large scale 3D printing. I am trying to do some initial path planning/testing, and have generated code using Kuka PRC. However, when I attempt to use LIN moves, I am receiving the error 'Precision Robot: Model deviation too large'. I have successfully run KRL that is comprised only of PTP moves, in T1 and Auto, but I am stumped with what to change to have it successfully run LIN moves. At this point I am not sure if I am missing something quite simple in the process or if it is beyond my experience. I have many years of running KRC4 robots, but this is my first KRC2, so I am still learning my way around the differences.

I have a KR-200 3 comp robot, and a KRC2 ed05 cabinet, KSS 5.6.10

The robot is floor mounted, and it is not a wall or ceiling mounted design. It is labeled 'Absolutevermessen'

I am not sure that I understand how to change or adjust absolute accuracy - I did read through the thread: Absolute Accuracy Info KRC2 - KRC4 - but it seems that absolute accuracy has to be explicitly turned on for a KRC2 controller??

Below is the error message:

The code I am using is below. I am copying it out of my text editor as it has been generated from Kuka PRC:

&ACCESS RVP

&REL 1

&PARAM TEMPLATE = C:\KRC\Roboter\Template\vorgabe

&PARAM EDITMASK = *

DEF test90 ( )

;FOLD INI

;FOLD BASISTECH INI

GLOBAL INTERRUPT DECL 3 WHEN $STOPMESS==TRUE DO IR_STOPM ( )

INTERRUPT ON 3

BAS (#INITMOV,0 )

;ENDFOLD (BASISTECH INI)

;ENDFOLD (INI)

;FOLD STARTPOSITION - BASE IS 0, TOOL IS 0, SPEED IS 100%, POSITION IS A1 45,A2 -120,A3 110,A4 -80,A5 20,A6 80,E1 0,E2 0,E3 0,E4 0

$BWDSTART = FALSE

PDAT_ACT = {VEL 100,ACC 100,APO_DIST 50}

BAS(#PTP_DAT)

FDAT_ACT = {TOOL_NO 0,BASE_NO 0,IPO_FRAME #BASE}

BAS (#FRAMES)

BAS (#VEL_PTP,100)

PTP {A1 45,A2 -120,A3 110,A4 -80,A5 20,A6 80,E1 0,E2 0,E3 0,E4 0}

;ENDFOLD

;FOLD LIN SPEED IS 0.1 m/sec, INTERPOLATION SETTINGS IN FOLD

$VEL.CP=0.1

$ORI_TYPE = #VAR

$APO.CDIS=1

$ADVANCE=3

;ENDFOLD

LIN {X 1118.565, Y -1041.747, Z 1627.273, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {X 1118.565, Y -966.747, Z 1627.273, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {X 1118.565, Y -891.747, Z 1627.273, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {X 1118.565, Y -816.747, Z 1627.273, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS

LIN {X 1118.565, Y -741.747, Z 1627.273, A 0, B 90, C 0, E1 0, E2 0, E3 0, E4 0} C_DIS

PTP {A1 45, A2 -120, A3 110, A4 -80, A5 20, A6 80, E1 0, E2 0, E3 0, E4 0} C_PTP

END

Thank you all for your help!