[Oxbown]

Hi @Albertand @Jeremy

I´m using the Reis RL130P in a project that I have to make a robot path program. This path has to be rotated along the Z-axis, but the option is not accessible via the menu.
The Reis uses the CNC cinematic (5 axes).
The Z rotation option is also not accesible in a custom 5 axes robot.

[Jeremy]

You can't use optimization on a 5-axis robot.
The concept of this optimization algorithm is that you have a 6-axis system (robot) doing a 5-axis job (milling), you, therefore, have a redundant DOF (rotation around Z that you can use) to avoid singularities and joint limits.
如果你使用5轴并不是如此robot.

Jeremy

[Oxbown]

Hi @Jeremy, thanks for your reply!

The idea of using axis optimization in a 5 axes robot (mechanism) is because in some cases one axis could be in limits and the TCP still could reach a target if the TCP rotates in Z (moving another axis that is not in limits). This functionality could be extremely useful in robots that have low ranged axes.

@Albert, Could be this functionality a "Request feature" for a next update?

[Jeremy]

We'll see what Albert has to say, but I think that would fundamentally go against the way the algorithm works.

Jeremy