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Align Z during movement?

#1
Hi,
First time using RoboDK, and trying to program a pick and place KUKA robot.

The objective is to move the objects in a way such that they are oriented "downwards" all the time since they carry stuff inside. Rotations around Z is fine, is there a way to keep this alignment using moveL or moveJ?

(it is also okay if it goes either up/down in the Z-direction)

See ClosetoGoal1 in the attached station, as example of a movement, where it isn't aligned with Z, making the contents spill out. 

If any of you guys have good ideas, please let me know :)


Attached Files
.rdk   LinearMotionTest.rdk (Size: 1.14 MB / Downloads: 27)
  




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