Hello all
I have a problem I haven't seen before. I have a SR-6iA scara robot with r30ib compact plus controller. When ever I apply an offset in the r coordinate i expect only the j4 axis to move, but for some reason all my axis move. It almost like it thinks there is a tcp that it is trying to rotate around. But I have tool tcp at zero for x,y,w,p,r and for z=150. When I jog, in user frame and same tool selected, around z axis only the J4 moves as expected. But for some reason offsets don't seem to work as I expect.
Some more testing
When i use the world frame and do an offset in R it rotates only j1
A tool offset produces the expected results with only j4 rotating, but I need to use a frame offset as I need to offset in x and y in the same move.
Any ideas?