I'm facing a problem with strange axis movement. At the end of this simulation j4 and j6 moves very strange. Why they are not turning during the move instead of turning at the end with this high speed and acceleration? I tried to fix it by changing some attributes in motionparameters.e, but none of these i changed fixed the problem.
i'm using built-in MOP with kuka-krc controller and loaded robot backup. Another question, if i load a robot backup do the motion limits change (overwrite) according to limits which are located in backup?