Startup

First, the joint axes must be extended, for example by means of JOG_AXIS or JOG_JOINT, which means the ropes must be unwound so that they can intersect, i.e. the ropes can be hooked onto the tool.

A valid Cartesian position can only be determined when the joint axes 1 to 3 intersect. Warning 16#17E26 "Forward kinematics failed…" is displayed as long as the Cartesian position is invalid.

Before Cartesian interpolation is allowed (JOG_CART or linear/circular interpolation), the axes must be initially aligned by means of PTP interpolation, since the robot is overdetermined by the 4 joint axes with 3 Cartesian degrees of freedom. Take this into account in terms of the application. The PTP movement may be paused but must not be stopped by means of program stop. Only a few (< 10) assigning instructions (e.g. SET_MOTIONSET, SET_BOOLVAR) may precede the PTP instruction in the SRL program and no wait instructions (e.g. WAIT_TIME) or other motion commands. Otherwise, there will be a jump in the setpoints for the axes and, as a consequence, usually a lag error.

A PTP movement must also be executed completely again initially after each jog operation by means of JOG_AXIS or JOG_JOINT.

However, after an interruption of the program execution, for example due to an emergency stop, it is possible to continue directly in the program by means of Repositioning (BackToPath).