FANUC's Cartesian coordinate system uses xyz-wpr as well as a configuration system that contains joint turn counters and joint placement bits.
The driver as is does not support anything but the xyz-wpr. This causes various issues. With the crx-10's, the main problem is swapping between joint and Cartesian coordinates. It can result in the robot attempting to move itself into a configuration you don't want, which can result in limit impacts.
The only way to intentionally choose a configuration is to start the robot in a configuration, so some positions are impossible to force without using joint coordinates, and if you do use joint coordinates and then go back to Cartesian, it just goes right back to the configuration it was in.
This may also be the cause of the problem with the P50ib/10L, where it will crash if joint 4 goes over 180 degrees.
FANUC's Cartesian coordinate system uses xyz-wpr as well as a configuration system that contains joint turn counters and joint placement bits.
The driver as is does not support anything but the xyz-wpr. This causes various issues. With the crx-10's, the main problem is swapping between joint and Cartesian coordinates. It can result in the robot attempting to move itself into a configuration you don't want, which can result in limit impacts.
The only way to intentionally choose a configuration is to start the robot in a configuration, so some positions are impossible to force without using joint coordinates, and if you do use joint coordinates and then go back to Cartesian, it just goes right back to the configuration it was in.
This may also be the cause of the problem with the P50ib/10L, where it will crash if joint 4 goes over 180 degrees.