Positioner rotation causes robot to move in unexpected ways

nezzreth

Without moving the positioner all axis move as expected. I have a workobject attached to the positioner that I am teaching my targets in. When I rotate the positioner the robot moves very strangely. I am not sure how to fix this. Does anyone have any ideas?

PerSvensson

You have to work outside the coordinated workobject. Define a coordinate system that isn't moved by the external axis. Then you can have targets which have the same robot position but with different externa axis values.

nezzreth

I should clarify, that I don't want the robot to move at all while I'm rotating the positioner.

PerSvensson

Take a look at MoveExtJ instruction

nezzreth

I am using an older S4C controller. Is there an equivalent move instruction for this controller?

abram

try MoveAbsJ if you have it