[leem2209]

I have a UR20 doing a point follow project but it keeps defaulting to the configuration as shown in the first screenshot. Wrist 3 is above wrist 1 & 2. I need wrist 3 to be below wrist 1.

   

No matter what I do (changed the tool TCP, change the path to tool offset) it reverts back to this configuration which will result in a tool/arm collision as it follows the path.

If I pause the simulation, I can change the configuration as required in the robot options, but the point follow reverts it back to the other configuration. I thought the "teach" button in the PFP might teach it to remember this configuration but it doesn't.

   

How can I change the configuration?

[Sergei]

Could you please share your station?

[leem2209]

Could you please share your station?

I've gotten around it by doing the following:

Pause the simulation. Go to robot settings and select the configuration that suits best (EG configuration #3)

I then send the robot home. Go to robot settings again and change it to the same config (#3) which changes the home position but TCP is still in same place. I then set this position as the new home position and adjust if required.

When I replay the simulation, it starts from this robot configuration and keeps it throughout. 

Is there a better process for this?

[Sergei]

Alternatively, you can just set joint values for the start point and, optionally, teach the tool orientation: