[bsun99]

Hi there,

Can you join your project or at lease some screen shot ?
That would help me better understand the situation you are experiencing.

Have a great day.
Jeremy

Hi Jeremy,
Please see attachments for demo's by using "Tool orientation follow path", which is good for moving weld gun along loop path with smooth robot wrist orientation.

Demo 1 is what I want, that is, weld gun approaches start point along the gun TCP Z direction. By tilting curve normals, I can achieve this.

Demo 2:
Path 1: no curve tilting; use path to tool offset for tool angles, but approaching normal.
Path 2: the same as Path 1, except use XYZ approach/Retract. You can see tool behavior changes along the path.
Path 3: the same approach as Path 2, except changing "path to tool offset" to get path 1 effects, but the way the tool approach is not far ideal.

Another questions:
1. How to specifiy a start point with a loop curve?
2. How to limit the number of robot move points along a curve path?

Thanks.