How can i jog joint 4 while it it working on a path?

Hi I am having a joint out of range problem while running autopath (circular). The robot wrist (joint 4) is out of range slightly after the mid point of the turn. I believe that this can be fixed by rotating the joint the other way along with joints 5 and 6 to continue its path.

However how should i go about doing this?


  • lemster68
    lemster68 United States ✭✭✭
    Get those axes in a more suitable working range.  Turn ConfL and ConfJ off.  Step from one position to the next, modifying each position after the robot arrives.  Turn ConfL and ConfJ back on.  Try it out.
    Lee Justice
  • Clarencechanyj
    Clarencechanyj Singapore
    Thanks lemster68, I got it working by turning ConfL and ConfJ off, then I played around with configurations and use the auto-configuartion function to create suitable configurations for my use.