I use raw krl instructions, but first command I have PTP, then LIN. This is problem with 4,5 and 6 axis(singularity), but why roboDK don`t show me. 也许我不correc设置t?
Yes, I create this robots. The direction of rotation of the axis in the model is correct, but when processing an element, the rotation of the 4th, 5th and 6th axis is opposite to the simulation. This is problem with parameters S and T(robot position).