This thread collects reports about Fairino programs generated from RoboDK where PTP motion works, but linear motion follows the wrong path or flips the wrist.

Status

Partial checklist. Several cases appear related to work object, tool frame or coordinate mismatch between RoboDK and the robot controller.

Symptoms

  • PTP movement works or looks acceptable.
  • Linear movement behaves unexpectedly.
  • The wrist flips during a linear segment.
  • The robot does not follow the path shown in RoboDK.
  • The issue may appear after changing WObj or generating code relative to a different coordinate system.

Known checks

  • Make sure the WObj in RoboDK matches the WObj on the robot.
  • Check the tool/TCP calibration on both sides.
  • Generate a short test program with only two or three points.
  • Compare joint values and Cartesian poses point by point.
  • Avoid relying only on visual simulation; validate the exported code values.

Please reply with

  • Robot model
  • RoboDK post processor version if known
  • Controller software version
  • Whether the issue happens only with linear moves
  • WObj/tool setup summary