Have you tried setting the tool center point to the tip of the rod? (UTOOL)
this may improve the rod tip motion moving in a straight line.
Have you tried setting the tool center point to the tip of the rod? (UTOOL)
this may improve the rod tip motion moving in a straight line.
See attached word doc
Fanuc has an option called collision skip that can do what you want working along with collision guard.
To move in a straight line you can use the motion option INC. INC is a vector move that you can set to move in any direction by putting values in the X, Y, Z, W, P or R components of the INC position.
All values must be initialized to 0. but a 200 in the X value to move 200mm in the X direction.