[Mukesh]

Hi,
I am using RoboDK with a Doosan A0509 robot and I am creating a path using Curve Follow Project.
I have a problem with the robot's J6 axis. I want J6 to remain at approximately 180° throughout the entire path, but during the Curve Follow motion, J6 rotates significantly.

[Albert]

What do you mean by prevent it from moving significantly?

In the program you shared Joint 6 moves within the range of -50 to +40 degrees approximately. This movement is required to maintain a constant tool pose.

[Mukesh]

Hello Albert,

When I create my path, I set J6 to 180°. However, when I generate the path using Curve Follow Project, J6 automatically moves to 90°.

I want J6 to remain at 180° throughout the entire path. How can I configure or program the path so that J6 stays fixed at 180°?