Im working with a cnc software to program our ABB robots which are s4c/+. The software generates MoveJ, MoveL and MoveAbsJ positions, the MoveL and MoveJ positions work fine and the robot moves to the correct place, however for the MoveAbsJ positions the robot doesn't fully go to the correct position, all the axis seems to be correct except axis J2/J3, there seems to be some sort of a relation between them that links them together as they cant be controlled individually.
Does anyone know what this relation is? as once I know what it is I can create an algorithm to adjust my code accordingly.