Software version: 3.7 - 3.11
Robot generation: CB 3.1
Single access to the point
Double access to the point
Steps to reproduce:
First waypoint - stop at this point
Second waypoint - blend
Third waypoint - stop at this point - non exact rotation
Fourth waypoint - stop at this point - exact rotation
Third and fourth waypoint are the same.
If We have “stop at this point” command we should reach exact point with exact rotation
At third waypoint we reach exact position but we have a little bit different and only after reaching the same point again we reach exact orientation.
This bug was fixed together with blending algorithm changes for eSeries. Unfortunately this was breaking change, and could not be ported back to G3.
Workaround is to have the same waypoint repeated twice at the end of move sequence. This compensates for rotation over or undershoot.
The same problem is mentioned in this post: