Thank you. I have a problem. The TCP orientation changes when moving from one way point to the other and is in danger of spilling a liquid or smashing glass. How can I make the TCP orientation fixed during transition?
Hi Hediyeh. If you're using a MoveJ, you can change that to a MoveL - that should solve the orientation issue. If you're using a MoveC, try changing from fixed to unconstrained and see the behaviour.
