[joshb5643]

Hello, I need to adjust a couple of points in a curve follow project, however when I adjust and ‘teach current position’ the position changes dramatically and unexpectedly when I run it again, this happens even if I move to the position and ‘teach current position’ without changing anything.
I noticed that when creating a curve follow project I have a reference frame set in the curve follow project settings but when I run the program with the robot panel open, the drop down is set to the Fanuc base frame, however I do not recognize the active frame coordinates. If I right click set ref instruction and uncheck ‘force original pose’ then the active frame does change to the expected frame, but none of the positions are reachable. I’ve tried recalculating targets but this fails.
Disabling ‘Impose original tool and reference in programs’ fixes the reference frame issue but now I cannot get the curve follow projects to run at all and the points that the robot will move to are completely incorrect. I get a green check with ‘path solved successfully’ but when I simulate/run it just moves to the first point and stops. The green tool path looks correct but again the points that it does move to are not even close.

[Albert]

The pose of your coordinate system generated in your program may not match the pose defined in RoboDK with respect to the robot base frame if you moved the object position. Instead, I recommend you to move the coordinate system and leave the object at the root position with respect to its parent coordinate system.

Can you share your RoboDK project? We may be able to better help you.

[joshb5643]

Yes I've attached it here. prog1 is functioning as expected but I'm unable to adjust targets and the active ref frame coordinates do not match the specified frame. prog2 was created with the exact same curve follow project settings, the only difference being 'impose original tool and reference in programs' is disabled, this gets the active ref frame to match the specified frame but the robot motion is completely incorrect. Thank you very much for your help on this.

[Albert]

I confirm that the issue is because the object has its own position with respect to the parent reference. Actually you also attached it to another object which also has a position change. 

Summarising: to prevent strange issues with setting your coordinate systems on the robot I recommend you to place the object you want to use for the curve follow project directly attached to the corresponding coordinate system. And make sure that if you want to move the object you move the coordinate system and not the coordinates of the object.

See the attached correction for your project.