[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.

[Miho Amemiya]

Thank you for your reply.
 
We checked with the FAIRINO end user.
 
When creating a PTP motion on the controller, the user selects a point from the point table. Each point stores both Cartesian coordinates and joint values.
 
Therefore, it is not clear whether the PTP motion is executed using the Cartesian coordinates or the joint values.
 
However, when the cursor is placed over a point name, the controller displays the joint values (J1-J6). This suggests that the PTP motion may be using the stored joint values, although we cannot confirm this definitively.
 
At this moment, we do not have documentation or programming examples that clarify this behavior.
 
For reference, we have attached screenshots showing that both Cartesian coordinates and joint values are stored for each point in the FAIRINO controller.
 
Best regards,
Miho Amemiya

[Albert]

Thank you for this information.

Can you confirm if you are using the Fairino db post processor?
Is it possible for you to share a program generated using the robot which includes a PTP movement the way you would like RoboDK to generate it?