Hi
Is this a new or used robot??
You can only interpolate linearly when robot is mastered/calibrated
otherwise, only moves in joint mode
Press the POS key to display the position values
You can display in either joint, user or world coordinates
user/world coordinates are not display if robot is not mastered/calibrated
IF robot is moving incorrectly check that robot is mastered correctly
Move the robot to marks and see all joint values at that position are zero
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