[michael.lang]

Hi Micheal,

In your Point Follow Project, there's a "Program events" option.
On the right column, you have the "on action" check-box and the text box related to it.
This will add an action to each point of the point follow project.

You can then use a subroutine to simply rotate Joint 6 +-10 degrees.

Jeremy

Thanks for your fast reply! So I think that works basically, but then the rotation would just happen after every single movement and not like a combined movement. Even though I don't want to enter the values manually. So I was playing around a bit and adapted the 'Csv File To Program' Python script trying to do the same thing but here I got the issue that its not doing the roation even though Python doesn't give any error. Maybe you could also have a look into that and tell me what I'm doing wrong. I suspect these lines to not work as I want:

robotJoints[5][0] = rotationTool# manipulate the joint angle 6 to the desired rotation
robot.setJoints(robotJoints)# set the robot joint angle 6 to the rotation value

Or could it be a solution to add the rotation of the joint angle 6 to the general movement in this line:

program.MoveL(pi)

How would I do that though? Your help is greatly appreciated!

Another problem I encountered:
-If I'm using python the 6 robot joint angles stay the same for all 120 points in the csv-file when generating the robot program with the csv-post-processor. If I add the points and the point follow project manually I get the correct joint angles in my csv...

I guess the problem with getting the same angles for all points while using the Python script is that the robot joints remain the same when checking the joint move (data_downsampled-3 was added with Python script, Target 122 manually, see the Robot joints). Why is this happening and how can I fix it? Thanks!