[Magda123]

Hello, 
i have problem with my prog, because i set 3 paths to weld a piece, but between path 2 and 3 the robot is doing a weird circle witch is causing a collision with a table. I tried adding some targets between those paths but even after going through them the robot is still doing weird movements to settle its self in a correct position. Could anyone please take a look at my project and check what i did wrong, because after watching many tutorials i still can't find a solution.

I would be very grateful for help :)

[Sergei]

First of all, you could use a curve with predefined normals. This will make it easier to optimize and adjust the approach/retract. In addition to the built-in Modify Curves tool, you can use the Curve Utilities Add-in for more convenient editing.

An even more advanced option is to import a curve using a part model with our CAD plugins:
RoboDK Plug-Ins for CAD/CAM Software

Regarding transition trajectories, you can use the Robot Control Panel to copy the joint values from the last step of the first program. These values can then be pasted into the ‘Preferred joints for the start point’ fields of the Curve Follow Project. This will help avoid unpredictable movements that may occur when using MoveJ instructions.