For a KR C2, what effect does using the "translational distance criterion" (or C_DIS) have on orientation? I understand that the position is gauranteed to be withing $APO.CDIS of the programmed point, but are there any gaurantees on orientation accuracy? How about C_ORI on position?
It's a confusing topic to me. For example, what motion would result from a series of LIN {foo} C_DIS calls where the POS variables have the same orientation but different orientations? Would no approximation occur?
What about when using velocity criterion if the points are so close together that $VEL_ACT is always less than $APO.CVEL (due to joint acceleration limits)? Will approximation just kick in at the halfway points of each motion block?
Any light you can shed on this will be helpful. I probably don't even know what questions to ask.