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Simulation of linear movement not accurate to actual trajectory

Hello all,

I am using a KUKA KR30 for 5-axis milling and in the RobotDK simulation everything is supposed to work fine. The TCP is accurate and all the tools were entered correctly (From Fusion360). 

The joint movements work according to the simulation, but when the linear movements start, the machine takes a completely different path and I have to stop the robot to avoid collision. It seams that the linear movement is using the center of the flange as the TCP, even though the toolpath incorporates the TCP dimensions. 

Could anyone help me?
Hi Mastancati,

Can you send us a copy of your RoboDK file and tell us which Post processor you used?

Have a great day.

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