Calculate Status and Turn for a PTP command

  • Hi,

    I'm developing an application and I faced an strange ocurring that is disturbing me. At certain point I sent an PTP command to the robot to a point in the space and it worked well, but when I sent another PTP command to the previous initial point, the robot didn't get the same trajectory and got struggled. I read that I can force trajectories providing the status and turn in the PTP command, but how can I calculate it in program to match the next and previous point? My controller is an KRC4 - 8.5.7 and the robot is an KR120 R35000 prime K.

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