robTarget: use only conf. out of Configur

khmgarbia

Hi there,

I'm trying to optimize a path using your inverse kinematics. Then I update my robTargets ConfigurationData to the best solution I'm getting. When I go to the ArcWelding path, and open my path, every thing work with simulating the motion through the path using "jump to". However, whenever I use "move to", for certain robTargets, other configurations are picked from the ConfigurationData which makes large joint motion, even though my wanted joint configurations is there in ConfigurationData . 

So how can I force a certain configuration in the ConfigurationData to be used through my mtion?

Anders S

I recommend you to synchronize the complete path to the VC and then use "Step In" (F11) in the RAPID editor to step through the path, instead of using "move to".

khmgarbia

Hi 
Anders,

I did what you suggested. I still have the problem. In fact the undesirable configuration that MoveL picks moves joint 5 more 90 degrees, and thus has the error of exceeding the 90 degree. And my optimized configuration that I computed moves as maximum as -35 degrees from the previous point.

Is there a way to force MoveL to use a specific confdata?

Thank you for the help,

Khlaed