# Positioner rotation causes robot to move in unexpected ways

**URL:** <https://tech-community.robotics.abb.com/t/positioner-rotation-causes-robot-to-move-in-unexpected-ways/6298>\
**Category:** RobotStudio\
**Tags:** robotstudio\
**Created:** [September 26, 2014, 12:46pm UTC](https://tech-community.robotics.abb.com/t/positioner-rotation-causes-robot-to-move-in-unexpected-ways/6298 "2014-09-26T12:46:06Z")\
**Posts on this page:** 6\
**Page:** 1

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**Author:** ![nezzreth](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/nezzreth/32/1872_2.png) [@nezzreth](https://tech-community.robotics.abb.com/u/nezzreth)\
**Post date:** [September 26, 2014, 12:46pm UTC](https://tech-community.robotics.abb.com/t/positioner-rotation-causes-robot-to-move-in-unexpected-ways/6298/1 "2014-09-26T12:46:06Z")

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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?

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**Author:** ![nezzreth](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/nezzreth/32/1872_2.png) [@nezzreth](https://tech-community.robotics.abb.com/u/nezzreth)\
**Post date:** [September 26, 2014, 4:59pm UTC](https://tech-community.robotics.abb.com/t/positioner-rotation-causes-robot-to-move-in-unexpected-ways/6298/2 "2014-09-26T16:59:03Z")

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I should clarify, that I don’t want the robot to move at all while I’m rotating the positioner.

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**Author:** ![PerSvensson](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/persvensson/32/1040_2.png) [@PerSvensson](https://tech-community.robotics.abb.com/u/PerSvensson)\
**Post date:** [September 30, 2014, 2:56pm UTC](https://tech-community.robotics.abb.com/t/positioner-rotation-causes-robot-to-move-in-unexpected-ways/6298/3 "2014-09-30T14:56:01Z")

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Take a look at MoveExtJ instruction

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**Author:** ![nezzreth](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/nezzreth/32/1872_2.png) [@nezzreth](https://tech-community.robotics.abb.com/u/nezzreth)\
**Post date:** [September 30, 2014, 3:15pm UTC](https://tech-community.robotics.abb.com/t/positioner-rotation-causes-robot-to-move-in-unexpected-ways/6298/4 "2014-09-30T15:15:54Z")

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I am using an older S4C controller. Is there an equivalent move instruction for this controller?

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**Author:** ![PerSvensson](https://dub1.discourse-cdn.com/flex005/user_avatar/tech-community.robotics.abb.com/persvensson/32/1040_2.png) [@PerSvensson](https://tech-community.robotics.abb.com/u/PerSvensson)\
**Post date:** [October 2, 2014, 5:28pm UTC](https://tech-community.robotics.abb.com/t/positioner-rotation-causes-robot-to-move-in-unexpected-ways/6298/5 "2014-10-02T17:28:09Z")

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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.

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**Author:** ![abram](https://avatars.discourse-cdn.com/v4/letter/a/a6a055/32.png) [@abram](https://tech-community.robotics.abb.com/u/abram)\
**Post date:** [August 30, 2024, 7:22pm UTC](https://tech-community.robotics.abb.com/t/positioner-rotation-causes-robot-to-move-in-unexpected-ways/6298/6 "2024-08-30T19:22:57Z")

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try MoveAbsJ if you have it