In certain special cases, the Robot Teach Config window is showing an additional 360 degrees from the originally taught config of the Fanuc robot.
A good config is taught, then the Teach Config window is closed and re-opened, and a bad config is observed.
This is occurring at joint values near the turn boundaries (-180 and +180).
Please help us diagnose this problem.
Solution
In the motionparameters.e file of the Fanuc robot,
replace the space_karel value in the motion_space parameter line with space_karel_rj3.
This parameter, space_karel_rj3, has been available in Process Simulate since V13.0.1;
Specifications are the same as space_karel,
except for joint_zero_turn_angle definition:
Turn number is 1: 180 <= joint value < 540
Turn number is 0: -180 < joint value < 180
Turn number is -1: -540 < joint value <= -180
Notes