When i download an program to the robot and upload this program directly there are differences in the importet positions.
What can be the problem?
Which controller are you using? How much is the difference in the coordinates? One reason can be a mismatch in the BASE / WOBJDATA position.
KUKA KRC4 Version 8.2
The Error is in the downloaded file.
The position has there an different to the simulation from round 4000mm
What is the configuration? rail, positioner, etc..? Have you done "Create/Update System Frames" at least once before doing upload/download?
The program is probably using a base number that is not properly defined in Robot Expert. Can you check that?
Where is <robot>.bf0 frame in your study? After Create/Update System Frame, it should be located at the robot BASEFRAME and attached to it. Then the uploaded locations should be in a position so that relative to bf0 (set bf0 as wroking frame to check it), you find the values you have in the dat file. And at download, you should also get those values in the generated dat file.
bf0 is in robot baseframe
the other robots in cell have an frame called .sim_bf0
they are on an rail, maybe this is the reason for sim_bf0?