[Cause]
When executing path control actions (linear action and arc action), the reverse conversion modes of the start point and end point are different. The inverse conversion mode includes the following 4 class:
Mode 0: The direction of tool Z is parallel to the direction of flange Z, with the flange facing directly above or below. Pattern 1: Tool Z direction is parallel to the flange Z direction, not pattern 0 position. Pattern 2: Tool Z direction is not parallel to flange Z direction, non-pattern 3 position. Mode 3: Position where tool Z is oriented perpendicular to flange Z and tool Z axis is parallel to J4 axis.
[Countermeasure]
1. Make the reverse conversion modes of the starting point and the end point the same.
2. Set the action type to joint action.
3. Specifies wrist joint action instructions (action additional instructions).