Is there a way, in linear move, to force the T axis rotation direction to the smaller joint angle instead of the shortest direction?That is to unwind it. In Fanuc this is the Wrist Joint option in the move instruction.
Unwinding the T axis
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Sergei Troizky -
June 13, 2019 at 4:53 PM -
Thread is Resolved
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try to move in tool mode
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Not that I know of. If taught in pulse, the T-axis has to go a certain way. If in XYZ, either preset the direction by moving to a P-variable in pulse or a servo command position. Another way in XYZ if doing all calculated moves is to calculate another midpoint (or two )position to force the T-axis the direction you want.
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