Hi all. I'm dumping my simulation programs into a real IRB1600 controller, and my positions are all off.
As seen below, J5 for jointtarget jHome is in the wrong position compared to Robotstudio:
CONST jointtarget jHome:=[[16.37951763,-8.258800928,47.919743198,-63.791856319,15.230495396,76.960911832],[9E+09,9E+09,9E+09,9E+09,9E+09,9E+09]];
I updated the rev counters as soon as we powered on by jogging all axes to 0 degrees.
However, I noted the virtual robot has the pose SyncPosition with joint values (0,0,0,0,30,0).
I tried updating again by jogging J5 to this values instead, but the position barely changed.
Is there something I'm missing? I don't want to have to touch up every point in my program.