When the J and L codes are output from an external program, the robot joints it interprets are different from the program's positioning. Is there a way to resolve this? In the CAM program, the 4th and 6th axes are set to 0 and processed, but when I load the program from AR4 and operate it, the 4th and 6th axes behave unpredictably. When I program it using the R mechanical joints, it works normally. However, when I operate it using the R joint coordinates, the acceleration and deceleration are completely different. Is there a way to resolve this? Even when I measure the position using J and L movements in AR4 and operate it, the joints rotate 180 degrees, causing the robot to catch a rat.

EX:

Sp 50 Ac 15 Dc 15 Rm 80 $ N
Move R [*] J1 0 J2 3.312 J3 16.713 J4 0 J5 -20.026 J6 0 J7 0 J8 0 J9 0 Sp 50 Ac 20 Dc 20 Rm 50 $ N

First Toolpath Point

Sp 50 Ac 15 Dc 15 Rm 80 $ N
Move R [] J1 -28.17 J2 17.807 J3 -0.054 J4 0 J5 -17.753 J6 0 J7 0 J8 0 J9 0 Sp 50 Ac 20 Dc 20 Rm 50 $ N
Move R [] J1 -28.17 J2 18.224 J3 0.556 J4 0 J5 -18.78 J6 0 J7 0 J8 0 J9 0 Sp 50 Ac 20 Dc 20 Rm 50 $ N

Plunge Move Starts

Sp 20 Ac 15 Dc 15 Rm 80 $ N
Move R [*] J1 -28.17 J2 18.756 J3 1.255 J4 0 J5 -20.01 J6 0 J7 0 J8 0 J9 0 Sp 20 Ac 20 Dc 20 Rm 50 $ N

Cutting Move Starts

EX1:

Sp 15 Ac 25 Dc 25 Rm 80 $ N
Move J [*] X 350.002 Y 0.000 Z 109.999 Rz 0.000 Ry 0.000 Rx 0.000 J7 0 J8 0 J9 0 Sp 15 Ac 25 Dc 25 Rm 80 $ N

First Toolpath Point

Sp 15 Ac 25 Dc 25 Rm 80 $ N
Move L [] X 358.553 Y -192.014 Z 110.000 Rz -28.169 Ry 0.000 Rx 0.000 J7 0 J8 0 J9 0 Sp 15 Ac 25 Dc 25 Rm 80 $ N
Move L [] X 358.553 Y -192.014 Z 105.000 Rz -28.169 Ry 0.000 Rx 0.000 J7 0 J8 0 J9 0 Sp 15 Ac 25 Dc 25 Rm 80 $ N

Plunge Move Starts

Sp 20 Ac 25 Dc 25 Rm 80 $ N
Move L [*] X 358.553 Y -192.014 Z 99.000 Rz -28.169 Ry 0.000 Rx 0.000 J7 0 J8 0 J9 0 Sp 20 Ac 25 Dc 25 Rm 80 $ N

Cutting Move Starts