Difference between Motion Target configuration and Jog Panel configuration

[keke]

I suggest to try using BaseName and ToolName instead of BaseMatrix and ToolMatrix. There’s an example snippet on this thread to read motion statement into motion target which you could try:

Interpolate Joint in C#

Motion targets and interpolators can be tricky to control. I don’t see a clear error in your code that could cause turns to behave like that. SetAllJointTurns() should work and you set target matrix after that which is also correct. Some of the other properties that you set on the target might throw it off somehow. Could you test the function below to convert PTP statement into motion target and see if it makes a difference? I tested this snippet on 4.4 and for me it seemed to return correct joi…

Thing with the matrices is that it probably doesn’t consider the fact that frame parent node might be different than the default (flange node for tool frame for example). Setting base/tool by its name should set both the parent node and position matrix correctly.

-k