Normally this issue occurs if your axis coordinate systems are not set as they should. 

Did you used this empty prefab which helps you for doing this (orientation of the coordinate systems of the 1st axis and no relative rotation in the sub axis)?
Assets/realvirtual/Professional/IK/EmptyRobotKinematic.prefab

Hello,

the "OnExit" event of the sensor is triggered when a MU exits the sensor. If I understand correctly, you’ve attached the sensor as a component of the MU. In that case, it won’t work as intended.

We won’t be changing this in the release because the for-each loops account for the fact that a single MU can consist of multiple colliders, which the sensor may detect.

I recommend the following approach: place the sensor as a standalone GameObject at the end of your conveyor and use it to trigger your script.

Alternatively, you could use Unity's standard OnCollisionExit method on your own component attached to your MU.

Best regards

Christin

1) it is a purely trigonometric solution which is able to caclulate all solutions (for standard industry robot kinematics). No real DH Parameters but positions and distanced of the joints are needed for calculating the solutions.

2) yes it works.

3) this would be possible with some coding 

4) No I am sorry, we can't share the source code of the IK.

Hi,
the current chain only functions with the drive component set to “virtual,” as configured in the sample scene. Using this setup, you should be able to build your device, and Unity physics should operate correctly in this case.

Hi,

thank you for reporting this issue. We will fix this in the next release.

Best regards

Christin

We are using a trigonometric solution which is able to calculate all possible solutions.

Hi,

currently it isn't possible to rotate it off-center. We will work on this for the next release.

Regards Christin

Maybe the AI pointed you into the wrong direction.

We have recorders like that:
https://doc.realvirtual.io/components-and-scripts/recorder#drives-recorder

But they write to scriptable objects and not to an external readable data structure.

You can check the scripts but you woule need to implement the data export based on your own needs.

Best regards
Thomas

Are you sure that the axis will be available over Port 501. We never tried to read NC axes. Why don't you transfer somehow (we are not twincat experts) the axis position to the standard PLC part?

I would need to check in detail. Do you have an simple example TwinCAT Project with a simple setup than what you are planning to d?