Without moving the positioner all axis move as expected. I have a workobject attached to the positioner that I am teaching my targets in. When I rotate the positioner the robot moves very strangely. I am not sure how to fix this. Does anyone have any ideas?
I should clarify, that I don’t want the robot to move at all while I’m rotating the positioner.
Take a look at MoveExtJ instruction
I am using an older S4C controller. Is there an equivalent move instruction for this controller?
You have to work outside the coordinated workobject. Define a coordinate system that isn’t moved by the external axis. Then you can have targets which have the same robot position but with different externa axis values.
try MoveAbsJ if you have it