Thanks for explaining,
So if I go to a certain distance and get from there the ‘get_ik’ to calculate move 130mm down, I get not the correct joint values?
Continuous motion without using joint positioning is way to slow.
The best I can do is to make a small program to go to every position and save this coords, then afterwards I can do joint positioning,
It’s a bit anoying to do it that way, in the box I drop the product I have to set 7 rows x 5 high = 35 positions above and 35 positions under,
and I have to do it for both left and right side of a box, so a lot of parameters.
For now I go with joint positioning above the row and wait on bit no motion then I relative position to z -depth in mm, It’s easy to change and
I have just 7 joint positions for a box. ( at all positioning instructions i set ‘wait on false’ and look at motion bit to go to the next instruction, it’s a little bit faster
than using ‘wait is true’ at every positioning instruction.)
Is this the way to go or do you have another solution in mind?