[yusufaykin]

Hi everyone,

I’m working with a KUKA KR 270 R2700 Ultra connected to RoboDK through C3 Bridge.
When I use the “Run on Robot” feature to send Cartesian moves (XYZABC), the positions received on the KUKA side are completely off — both position and orientation seem to be transformed incorrectly.

However, when I send joint targets, everything works as expected. The motion on the real robot matches the RoboDK simulation perfectly.

Here’s what I’ve checked so far:

- Tool and base frames are defined and matched between RoboDK and the KUKA controller.
- The same program runs fine when exported offline (.src/.dat) and executed directly on the robot.
- The problem only happens during online execution through C3 Bridge.

I’ve got screenshots showing:

- The RoboDK target (e.g. Target_12)
- The generated .dat file
- The actual robot setup
- The pendant showing the received E6POS values

Has anyone experienced similar behavior with C3 Bridge or Cartesian targets through RoboDK?
Is there a specific configuration step or driver setting I might be missing (e.g., base/tool sync or reference frame option)?

Any help or ideas would be really appreciated!

[Albert]

It looks like your controller has a custom coordinate system setup as the base system because we see these coordinates:
XYZ from E6POS=[0,0,-1550]
These values are different on your DAT file.

I would recommend you to revise where your base reference is defined. This forum thread and section of the documentation explains how to properly setup your system with a KUKA controller:
https://robodk.com/forum/Thread-How-to-c...ernal-axes
https://robodk.com/doc/en/Robots-KUKA.ht...ADriverExt