Hello guys !
I want to setup a glue pump for a gripper robot.
The thing is that in the trajectory i NEED to use a Wrist Joint movement in linear (wjnt) and also send the TCP speed with (RTCP) comand.
The problem is that the comands are not compatible, don`t know why.
Any idea on how to solve the issue? 
Hello, i need to optimize a trajectory on a KUKA robot, remove some usless rotations...
On Fanuc i could easily do that changing the axis configuration FUT 000 NUT -001 ...
Is there any way i can do this on KUKA?
Also , any tips for cycle time trajectory optimization ?
Edit: I foud something about STATUS AND TURN , i saw that they are "bits" but i don`t necesarely know what they mean and how to change them 
Hello,
I want to recalibrate a robot în "zero", because axis 3 is not în " physical zero"
Is there any way to do this and keep the working trajectories? 
