05-18-2023, 04:20 PM
Since you have attached the imported .tap program to the base of the robot, the imported trajectory moves with the robot base attached to the ext axis. If you use a static frame (not attached to the ext. axis), this allows you to adjust the position of the robot base relative to the imported path. In the opposite case, it is not possible to maintain the tool orientation as part of the path is unreachable.
I have attached a modified station. Frame 3 is attached to the base frame of the station.
I have attached a modified station. Frame 3 is attached to the base frame of the station.