Hello everyone ,
I have a problem with movements with PR positions on a Fanuc M-20iD. Basically what is happening is that since I am using only PR positions to move because of the 4 different tools that i have the robot in certain points will rotate the tool for 360 degrees while using the same tool in the config. I tried to reteach the point and it always happens the same. I also noticed that it only happens if for example the starting movement is at -178 and the next point is at -180 or more the robot would rotate the gripper 360 degrees on the other side to reach the point. I don't know if this is normal behavior since it is the first time that I encountered this problem. If someone had the same problem or know how to resolve this I would be very grateful.
Thank you in advance!