Move tool about Z

[padu]

I'm trying to create a small program using MelfaBasic to rotate the tool about the tool's Z axis (roll) and I'm having some weird problems.

Let me start by saying that I'm not close to any singularity point, and if I use the teach pendant I can rotate the tool in any direction using the A, B, C jogs in XYZ mode.

In my program I've done something like this to test what I'm trying to do:

10 MOV PINIT
20 P1 = ALIGN(PINIT)  
30 MOV P1
40 P2 = P1
50 P2.A = P1.A + RAD(20)
60 MOV P2

So the above works. The tool yaws 20 degrees.

Then I do the same for P2.B and the tool correctly pitches.

But when I do the same for P2.C, the tool yaws 20 degrees instead of rolling. Am I doing something wrong? One alternative would be for using joint mode and rotating J6, but the problem is that my tool tip is not located at the center of the wrist.

Ideas?

Cheers


PS: I'm using a Melfa RV12S with CR3 controller