I am seeing different behavior when performing MoveC commands in simulation only (offline), and when connected to the UR5 robot (online). I have attached a link to three short videos that illustrate the problem. When run offline, the centre of the basket of the tool maintains position when performing a MoveC command (video 1). As soon as I connect to the robot and run online however, both the simulation (video 2) and the real robot (video 3) no longer move in a circle. Further:
1. If I copy the three targets that form the MoveC and create a program on the UR5 pendant, the robot (independent of RoboDK) still exhibits the basket wobble that you can see in these videos.
2. Multiple students (whose code is different to mine) are experiencing exactly the same behaviour.
3. This behaviour is seen on multiple UR5 robots.
https://www.youtube.com/playlist?list=PL...tvfVXMheH9
1. If I copy the three targets that form the MoveC and create a program on the UR5 pendant, the robot (independent of RoboDK) still exhibits the basket wobble that you can see in these videos.
2. Multiple students (whose code is different to mine) are experiencing exactly the same behaviour.
3. This behaviour is seen on multiple UR5 robots.
https://www.youtube.com/playlist?list=PL...tvfVXMheH9