Whenever I create a program using MoveJ commands, the robot is able to follow the simulation correctly and carry out the program. However, when I use MoveL commands the robot does not follow the simulation correctly and the joints don't move in a perfect linear motion. I tested this using the same program targets i just changed the movement. Do you know why this happens? I am quite new to RoboDK so I'm not sure how to troubleshoot this issue.
Hi sorry for the late reply but here is the project. The programs I used here were just to test whether the robot could perform linear movements. The MoveL program would not perform the same motion when I run it on the robot. I could attach a video of what the robot does if you would like.
You can right click a program and select the option "Recalculate Targets" to match their joint values and Cartesian values for each target in a program. This will likely solve the issue.
The discrepancy you have happens because Cartesian targets remember the joint values that were used when teaching the target. When you generate a joint movement to a Cartesian target, some post processors or controllers will take the joint values instead of the Cartesian values. The difference appears when you move the active coordinate system or the tool you use for the movements.
