I thought I had taken care of this, but I had only reduced it's magnitude, not the fact that it's happening.
Robot is a 5-axis LR Mate 100i High Speed
Controller is RJ-2, ArcMate software.
I am trying to make a linear move from:
P[1]
x: 0 w: -90
y: -630 p:-90
z: -210 r:-180 config: FUT -1
To P[2]
x: 0 w: -90
y: -570 p: 90
z: -210 r:-180 config: FUT 5
via
J P[1]100% FINE
L P[2]360deg/sec FINE Wjnt
Imagine mimicking jogging on only the +/- Z axis in tool coordinate mode while J5 turns though 5.5 rotations, or 1980*.
Both positions were taught in the horizontal fixture position.
The problem is during the L P[2] move the J4 axis rotates down (CCW) approx 5* out of alignment then returns to the horizontal fixture position at the termination point.
I have tried removing all rotational commands from the program (Config FUT -1, p: -90 for P1 and 2), and adding a P[3] at the half way point between the two on the Y axis. X,Z, w, p, and r are the same. In that instance the J4 axis did the same dip between the first and middle position, then performed the move from middle to end on plane.
If I remove Wjnt from the move the J4 axis will not dip, and the tool will remain on plane for the move.
However this prohibits me from turning on the axis that I need.
Fanuc tech support could not figure out why this was happening nor offer any solutions.
Thank you for looking.