02-18-2020, 04:47 PM
Hi dmmaya,
正如你可以看到在你的茶ch pendant, the difference between PTP and LIN movement is the type of movement and the input parameter.
PTP are MoveJ and the inputs are the joints values.
LIN are MoveL and the inputs are cartesian coordinates and orientation.
If the base frame of the robot and the reference frame of RoboDK are not set according to one another, the LIN movements won't work.
Did you try creating a program only using the robot? Without involving the external axes? Did that work?
Have a great day.
Jeremy
正如你可以看到在你的茶ch pendant, the difference between PTP and LIN movement is the type of movement and the input parameter.
PTP are MoveJ and the inputs are the joints values.
LIN are MoveL and the inputs are cartesian coordinates and orientation.
If the base frame of the robot and the reference frame of RoboDK are not set according to one another, the LIN movements won't work.
Did you try creating a program only using the robot? Without involving the external axes? Did that work?
Have a great day.
Jeremy