MoveP ignores Rotation vector

Technical Questions
1

Good day forum,

I have defined 4 Poses (p[X,Y,Z,Rx,Ry,Rz]) as the 4 edges of my screen (DUT). At each of these poses, the TCP is making Orthogonal contact with the screen.
When I want to Draw a line between these edges for Linearity test cases, I use “MoveP” command to do so. But I notice that when the TCP travels from Point1 to Point2, the TCP gets a bit tilted with respect to screen (not orthogonal anymore).
The Rotation vector (Rx,Ry,Rz) at the destination, is slightly different than the defined Rotation vector for Point2.

What is the issue here and how can we solve it ? it is essential for us that the Rotation vector stays the same throughout the MoveP command. So that the TCP stays touching the screen Orthogonal.

Kind Regards,
Ali

2

Does it do the same thing when using MoveL? How were the points saved? Using Polyscope waypoints or something else?

3

MoveL does not have this issue. Point are defined at fixed positions.

I fixed this problem by inputting Joint angles instead of Pose in the MoveP command.

So from movep(pose, a=1.2, v=0.25, r=0) ==> movep(JointAngles, a=1.2, v=0.25, r=0).

Now the tilt does not happen anymore.