I need help in Motosim,
There's this coordinated motion cell arranged with two robots in a jigless synchronized movement. Both robots calibration position is flange to flange in contact, with robots in WORK HOME position posture, one facing the other. By some reason I can't figure out why, when moving the robot in cartesian mode, the TCP moves correctly in a straight line along the y axis but the posture of the flange rotates as if an S joint move was performed.
In other words, TCP should remaing irrotational around the 3 axes, but it rotates, when moving along y, the TCP rotates around z like keeping the x axis always pointing the robot zero position, intersecting z axis. But once you move the flange from the z zero position, the behaviour is normal.
Does anyone have had this problem?