[Kenn_Tran]

How do I prevent the rail from moving around when inserting new instructions into a program?

In my application, I have a feature to attach new movement instructions to a program generated by the project settings. When I insert the instructions, the rail moves away from the instruction's position and causes the robot to stretch itself out just to reach it.

I am inserting these instructions by program.movel().

I've tried using Optimize Axes but it would still move the rail, setting the rail's position to where I need it to be before adding the instruction, and tried solveIK to get the joints but I would get an error that linear movements with a joint is not valid.

I've attached an example RDK, in the program's instructions, I've attached 4 new movel instructions: Approach #1, Approach #2, Retract #1, and Retract #2. I've edited the original first joint movement to the original approach to be moving to Approach #1 and it was able to retain the rail position through solveIK and setting it as a movej.

When you run the program you can see the rail jump towards 5574.0 when I want to keep it at 7000.0 like the other instructions.

[Albert]

Since you are moving to Cartesian targets you should set the joint value of the rail to the desired value (7000 mm instead of 5574 mm). This is very simple, you can just manually update these values (the blue box of the target data in the joints section represents the external axis).

See the attached image and sample project.

[Kenn_Tran]

Thanks Albert, that worked perfectly.