Robot axis angle relative to parent axis or world

[Anonymous]

I have defined a Fanuc S-430iW robot based on the Fanuc M-710IC-50 in the sample library.  I have noticed that the J3 axis angle seems to be relative to the world workplane not relative to its parent axis.  This behavior mimics that of the sample M-710IC.  You can observe this by loading the built in Fanuc m-710IC.  When adjusting the J2 axis under the robot control tab the J3 maintains its angle relative to the world. In contrast if you load the ABB 6640 and adjust the A2 axis the A3 axis maintains its angle relative to the A2 axis and not to the world.  The behavior of the Fanuc robot is incorrect and allows for impossible robot positions.  I have searched through the .mtd and .RobConfig files for both robots compared to the ABB and can not spot where the difference is.

[alexandre.pintoAGNAU · Accepted solution]

Hi Tyler,

can you please follow the stems on the image below, and try again jogging the robot?

 If I understand correctly this will do the trick, please let me know if this is what your are looking for.

Thanks