[austintc_180]

艾伯特你好,谢谢司机似乎是大多数ly working right now. After a few days of tinkering. I have discovered the following very significany driver related issues.

• Overall joint 6 pose inaccurate between simulator and reality when issuing joint moves (usually a 90 or 180 difference in orientation) so my tooling is incorrectly oriented
  
• When issuing linear moves the robot appears to error out in several conditions:
  
  
• If the robot is in low power mode it errors out with 4241 error and immediately shuts down when attempting a linear move. (see the error message towards the bottom of the log attached)
  
• If the robot is in high power mode and attempts to move linear with a certain TCP defined that isn't the robot flange, it will almost always throw a 99 general communications error. (See the first line of the log attached)
  
• If neither of those things happen the robot appears to get the orientation consistent between the simulator and reality.
  

Thanks and let me know if this should be a separate forum post. Otherwise let me know if you have any suggestions or if I can provide any additional input.