MOVL between 2 position registers YRC1000 - move is not linear interpolated

Hello,

Yaskawa Controller YRC1000.

I prepare program with linear movement in Z axis:

MOVL P001 V=1500.0

SET P120 P050
SET D000 0
GETE D000 P120 (3)
SET D000 2000000
SETE P120 (3) D000

MOVL P120 V=1166.7 PL=1

SET P120 P050
SET D000 0

GETE D000 P120 (3)

SET D001 D012
MUL D001 B012
ADD D000 D001
SETE P120 (3) D000
MOVL P120 V=500.0 PL=0

When robot move from first value of register P120 to second one, (only difference is Z axis) move is NOT linear.

P050 and P120 are prepared in Base Frame and Tool1.

Why MOVL Linear interpolation not generate linear movement of manipulator?

What I'm doing wrong ??

Regards

Grzegorz

Hello thank You for interest.

Robot move down , but gripper move in Rx and Rz during movement.

Regards

Grzegorz

Yes , during movement is go through singularity. Arm Model GP180-120.

I made test - 2 new pos. registers . teach 1 point then move manually in Base Z direction - teach 2 point.

When I move by Z button in TP movement is linear, but when I go from point to point by FWD button additional rotation of gripper is added.

Regards

Grzegorz

Problem solved.

I need to add 2 more movement - before singularity and after , and then target point.\

Now robot move is linear , like Z+ and Z- from TP.

Thank You.

regards

Grzegorz