Hello everyone,
I am newbie in Fanuc robot programing. I used Roboguide to make a program to picking a glass .
Similarly, it looks like in this video: https://www.youtube.com/watch?v=KI7gi494L7s
But I want to the tool changes state and position from state A to state B without rotating the axis 4
May anyone give me advices how I can do that.
If you don't want J4 to move then you could teach each point with the same J4 angle and use a joint move.
The robot in the video is near a singularity point which makes this more difficult to manage.
HawkME is correct. your J4 is rotating because of your singularity (j5 near 0)
Whoever designed the pick rack put you in that predicament. Some more tilt to the rack or twist the entire rack slightly would help you.
