Hello,
I am using a LR Mate 200iD/4S.
I need help to understand why the following movement is not possible.
With:
P[1] CART FUT 000 X 320 Y 320 Z 315 W 0 P 0 R 135 |
P[1] JNT J1 45 J2 39.463 J3 4.815 J4 0 J5 85.185 J6 90 |
P[2] : CART FUT 000 X -320 Y -320 Z 315 W 0 P 0 R 135 |
P[2] JNT J1 -135 J2 39.463 J3 4.815 J4 0 J5 85.185 J6 -90 |
In robot guide, if I move manually the TCP from P1 to P2 it works but it doesn't by jogging or with the program.
I know that this movement passes through a singularity but I have the option singularity avoidance and theoritically with a rotation around J1 it should be possible.. Do you know if there is an option or a solution to move linearly from P1 to P2 ?