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
    Andreas