Fanuc - RTCP and WJNT

  • Hello guys !

    I want to setup a glue pump for a gripper robot.

    The thing is that in the trajectory i NEED to use a Wrist Joint movement in linear (wjnt) and also send the TCP speed with (RTCP) comand.

    The problem is that the comands are not compatible, don`t know why.

    Any idea on how to solve the issue? :grinser043:

  • Hi,
    i think the incompatibility is not solveable:
    -> the wjnt option is a "hack" to move pseudo linear through singularity ,so the path is "unknown"

    Do not use RTCP at those movements is imho the only solution (or hardware modification) for this problem

    Best Regards