[Mastancati]

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 jointmovementswork according to the simulation, but when thelinear movementsstart, the machine takes a completely different path and I have to stop the robot to avoid collision. It seams that thelinearmovement is using the center of the flange as the TCP, even though the toolpath incorporates the TCP dimensions.

Could anyone help me?

[Jeremy]

Hi Mastancati,

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

Have a great day.
Jeremy