Hi,
in a regular three axis CNC machine with orthogonal axes if you require a move from 0,0,0 to 0,0,5 say then pulses have to be
issued to just the X axis motor. Thus a g1 Gcode block need only specify the amount to be moved in that one direction, the other
motors remain idle but the move will complete.
With a robot arm it may be just to execute a simple move in one direction requires three, four or more of your robot arms motors will
have to move. That kind of coordinated multi motor action to produce a simple g1 Gcode is called kinematics, and is right up there in terms
of complexity. I suspect you will be required to use the Fanuc controller to get the kinematics right.
Let me guess....you got the robot arm for free.....but the controller costs millions?
A controller from a different manufacturer will give different results.......because, say, the centremost arm is longer than the Fanuc robot and
consequently the controlled point, the end of the arm, is more sensitive to movement of the centremost arm.
Craig