[Unai1996]

I have the following three points (see the image).

 I can move from HOME to P1_off without problem. The problem is that I try to move from P1_off to P1.  P1_off is the same point as P1, with a Z negative offset. If a Define P1 as axial target, I can move from  P1_off to P1, but if I define it as Cartesian target, as result I have that P1 is not reachable. I would like to have as cartesian target. Any ideas??

[Albert]

In general, we recommend you to create programs that first have a joint movement and then linear movements to Cartesian targets. This helps properly establish the preferred arm configuration in a deterministic manner for the whole program.

Can you share your RoboDK project?