I am trying to use SPTP motion type on a KRC4 controller and KR3 Agilus robot. When the line(s) that have SPTP motion type are executed the robot does not move. I can use PTP, CIRC, and LIN motion types in other programs and the robot moves to the taught positions as intended. No issues. I was instructed that all my motion moves in the given program need to be splines. The robot still will not move when trying to execute the line with the spline motion type. Here is my set-up. I'm in T1 mode, GO motion, the program executes and reaches the BCO, I re-depress the start button, but no movement is seen. I am not getting any faults. Drives are on, and the enabling switch is engaged. Tool 1 is a gripper and Base is (0) null frame. All program lines were written using the in-line forms, all are SPTP motion types, Group - User (not expert). I have not adjusted any motion parameters. I left all as defaults.
All the status indicators at the top of the SmartPad are green (S, I, R, T1). Any ideas?
Also, what does CP mean in the manual?