I am trying to set up a dispensing application where the dispenser is fixed/static (and oriented vertically) and the arm (Fanuc S-430iW with RJ3 controller running v5.30-3G) is holding the part. The part is a 6" diameter cylinder and the dispensing path is essentially a helix that wraps around the cylinder multiple times. Part/cylinder would be held so that its axis is co-axial with J6. Motion speeds are in the range of 20-30mm/sec. I am using RoboDK to simulate/program and pulling in path points and normal vectors from Rhino.
A single turn works fine. But when trying to add points beyond a single turn the simulation fails (points not reachable). In theory just need J6 to continue turning while advancing the cylinder linearly back and forth along the axis of rotation. But in practice cannot get J6 rotations beyond 180/-180.
Any insight to a possible solution is appreciated.