[Kenn_Tran]

How would I keep the same orientation of the robot the whole way through the path/program? The path is a simple 3 point line that the robot has to follow and I would like to have the robot stay in one orientation without it moving around.

When the robot reaches the first point, it is using the orientation that I want the robot to be staying at. But when it moves along to the next point, it starts to tilt backwards. As it continues to the third and last point, it re-orientates itself to be standing straight up again. Though not in the same orientation as it was at the first point.

I've tried using minimum change but it just made the robot orientate itself weirdly even more.

[Sergei]

You can teach the tool orientation at a starting point that you already defined and use the following settings:
- Minimum tool orientation change algorithm
- Allow tool Z rotation = 0

Also, it's necessary to reduce the retract distance, since the endpoint is out of reach:


  opt.png (Size: 156.01 KB / Downloads: 10)

I attached a modified station

[Kenn_Tran]

But this causes the robot to not finish upright, the same way it started. I'm looking to make the robot stay upright throughout the whole path.

[Sergei]

Do I understand correctly that it is necessary to hold the robot always so that the camera/scanner moves more or less parallel to the XY plane?

If this is the case, there is no ready solution - only manual adjustment of points.

Theoretically, you can try to develop a script that analyzes the camera position and calculates how much you need to rotate the tool around Z to provide the necessary camera orientation.