Hello,
I usually move the robot between E6AXIS positions in the free-space (with PTP instruction and CONT enabled).
Once the robot has reached the final destination area, the final movements are performed using E6POS position (PTP to approach, LIN to final pos):
PTP welding_zone_free_area (E6AXIS)
PTP free_area_2 (E6AXIS)
PTP free_area_3 (E6AXIS)
PTP pallet_zone_free_area (E6AXIS)
PTP pallet_release_appro (E6POS)
LIN pallet_release (E6POS)
I experienced unexpected trajectories when robot is blending the last E6AXIS (PTP) point with the first E6POS (PTP) (red highlighted in the example before). With other robot brands I never had this problem.
I solved blending the last E6AXIS (PTP) to the first E6POS using a LIN command instead of PTP like this:
PTP welding_zone_free_area (E6AXIS)
PTP free_area_2 (E6AXIS)
PTP free_area_3 (E6AXIS)
PTP pallet_zone_free_area (E6AXIS)
LIN pallet_release_appro (E6POS)
LIN pallet_release (E6POS)
I don't know where I am wrong.