[Keisuke.Sakai]

Hi RoboDK teams,

I encountered the following error while generating a program for the FAIRINO FR3MT robot in RoboDK:

Joint movement using cartesian targets is not supported. Change the target type to joint or use a cartesian movement.

Environment:

• RoboDK Version 6.0.1
  
• Robot: FAIRINO FR3MT
  

Program structure:

• MoveL(Target 1)
  
• MoveJ(Target 2)
  

The MoveL instruction is generated correctly, but the MoveJ instruction produces the above error.
Target 2 was intentionally created as a Joint Target in RoboDK. However, during program generation it appears to be treated as a Cartesian Target by the FAIRINO post processor.
Could you please clarify the following points?

1. Does the FAIRINO post processor support MoveJ only when the destination target is a Joint Target?
   
2. Is there any known issue where a Joint Target may be interpreted as a Cartesian Target during program generation?
   
3. Are there any RoboDK settings that should be checked (Reference Frame, Tool, Target Type, etc.)?
   
4. Could this be a limitation or bug in the current FAIRINO post processor?
   

A screenshot is attached for reference.

Thank you for your support.

Best regards,
Keisuke Sakai

[Albert]

I understand you are using the Fairino db post processor. The regular Fairino has the same limitation.

A the time we developed the Fairino post processor about 2 years ago it was not possible to have a linear movement given joint targets. Maybe this has changed now. Can you confirm?

If you can provide us with the syntax required to run a joint movement given a Cartesian target we can update the post processor accordingly.