[rpgemployee]

Good morning! I'm not sure if this is a bug but it seems like it might be. I've attached the work cell in question with this post. If you run the programs T3711B or T3711D you will see strange behavior despite the settings that I have for the programs in question. I have "Allow Z a Tool Rotation +/- 0 deg by steps of 20deg" set on for both program settings but you will still see Z rotation about the TCP despite this. Is this a bug or is this something that's going on with the imported path from SolidWorks? Any assistance with this would be greatly appreciated, thanks! I know for a fact that the robot can do that movement without rotating so it's very curious why the simulation is having the robot rotate the way it is.

[Alex]

You can very quickly fix this issue by teaching the orientation of the tool with the "Teach" button next to the algorithm. I have quickly fixed this on your station.
   

[rpgemployee]

This worked perfectly and allowed me to continue working on what I was doing before I encountered the strange behavior, thank you!

[Albert]

Great, thank you for your feedback!

[SamuelEStreamline]

Hi Albert and Alex,

I am having a similar issue to #rpgemployee. I have a curve-follow project using coordinated motion (synced robot axes) where I have selected the "Tool orientation follows path" algorithm. I am allowing a tool Z rotation of 0.00. However, the TCP continues to rotate about the Z-axis while following the curve. I've only lately been seeing this issue in the simulation. These curve-follow projects are generated via Python API. It is very important to our project that no manual input is required when creating the projects. Can you please help me correct this issue?

At start of curve:
   

Somewhere along curve:
   

[Sergei]

If you can share an example of a station where you experienced this issue, we can look at it in more detail.

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