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Inconsistent positioning between Run Program and previewing targets
#1
I'm going through some of the tutorials, but I'm getting some odd simulated behavior.

Some examples:
- The GIF is the program running if I use Ctrl+R. No collisions.

- Screencaps "positions-side" and "positions-iso" show what happens if I press F5.

- "Paint4 single/double-click": If I single-click a target location and let the simulated robot do its animated motion, the joint configuration is one way. But if I double-click on the same target, it is not the same, and part of the robot interferes with the workpiece.


I've seen this a few times so far while practicing - running the program results in one set of joint configurations, but clicking the Targets one by one gives something different.


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#2
Hi sp8472,

This is because when using "Teach on Surface" you recorded the wrong robot configuration.
This is a common mistake and it can be fixed easily.

Help full information before presenting the solution:
Move J respect target configuration
Move L do not respect target configuration, only the cartesian position. Therefore, the robot configuration at the starting point of the movement will be kept during the motion.

Clicking once on a target in your station tree will trigger a Move L between the actual position if the robot and the target selected. (Target configuration not respected)
Double-clicking a target in your station tree will trigger an "instantaneous" Move J to the selected target. (Target configuration respected)

Solution:
1 - Double-Click the first point in your program.
2 - If the configuration is fine, jump to step 5
3 - To select the right configuration, double-click the robot to open the robot panel and select the proper orientation for the target under "Other configurations".
4 - Right-click the target in your station tree and select "Teach Current position", that will record the new configuration
5 - Click once on the next target. The configuration should be kept from one point to the other IF it's physically possible.
6 - Right-click the target in your station tree and select "Teach Current position", that will record the new configuration
7 - Repeat for all point in your sequence.

Jeremy
  




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