Rapid Programing

    Hello guys, I need some advice. I am working in a Irc5 welder with IRBP type D positioner. The part I need to weld is a plate with a bush mounted in the center of the plate. My problem after programming the robot target with the welding torch straight with Z during the execution the torch changes the inclination following the table rotation. Is there any instruction to prevent the torch from movingRoutine2.txt when the table is rotating?

    Code

    Your robtargets are tied to WobjSTN1. That means that as your positioner (STN1) moves, the robot will reorient to stay with it.

    Do you have coordinated motion established? It's been awhile since I dealt with positioners, but if you want the robot to move independently of the station or vice versa, you will need to turn coordinated motion OFF. (Or do a MoveAbsJ and only modify the positioner values, but that can get weird)

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