[AluMill]

I think there is a bug in the Kuka driver when using a linear axis.

Any suggestions?

[Jeremy]

Hi, 

Sorry for the delay. 

Could you try the attached driver and let me know if it fixes the problem?
Simply unzip it in "C:/RoboDK/api/Robot"

Jeremy

[Jeremy]

Hi Alumill, 

I have another potential solution for you, could you try activating this option here:
   

Jeremy

[AluMill]

Hi Jeremy,

Sorry for the late answer.
The new driver does not fixes the problem, same behavior.

I have made a workaround that works for me:
- I removed the synchronization between robot and rail
- If I want to move the rail, I do RunCodeCustom with the X-coordinate of the rail but I have another problem with that, see code:

Code:

def MoveRail(X):
        if TEST:
                KL4000.MoveJ([X])
        else:
                KR120.RunCodeCustom(X, INSTRUCTION_CALL_PROGRAM) # Not working, X is not int?)
                KR120.RunCodeCustom('700', INSTRUCTION_CALL_PROGRAM) # working fine!
                KL4000.setJoints([X]) #manually set position of the rail in RDK

Second problem: I can not read the position of the rail, that's why I manual set the joints of the rail.
Is it possible to get feedback from the RunCodeCustom?

[adam_frey]

Hello,

I have encountered the same problem with linear movements using a KUKA and a 7th linear axis.
Has a solution to this problem been found?

Thank you in advance,
Adam

[Jeremy]

Did you read this new section of the documentation: https://robodk.com/doc/en/Robots-KUKA.ht...ADriverExt

Jeremy

[adam_frey]

Jeremy,

I have read the documentation like you suggested and I have implemented the fixes. 
Still no luck :/

Adam