We have a KR6R900 and I'm running into issues with our External Axis's.
When I perform the following move, the robot moves correctly because it is causing the Status and Turn (S&T) to be stripped out. The robot is then somehow using the right S&T to get to the new point.:
The problem with this code is that it is also stripping out the External Axis's (E1-E6) The above code results in the following (values removed) The fact that the result is a frame is OK (POS or FRAME are valid inputs to PTP cmds...), which is how it's stripping off the S&T...
If I remove the $NULLFRAME from the geometric operator, the move then tries to maintain the same S&T and doesn't move through the best path. (A1 attempts to rotate all the way around, which it cant...)
So what I need is to somehow strip out the S&T BUT NOT the External Axis values. Is that possible and if so, how?
In my testing I found that if I change it to a SLIN command, the following does work because LIN moves ignore S&T (but not for SPTP):
I think the main reason I'm having this problem is because I'm programatically changing the activeBase, so the resulting point of activeBase:point4 has a different status and turn than when the Point4 was originally defined, BUT its trying to still reach the location with the S&T that was originally taught.