fixed tool

h.esk60

Hi 
How can i use of fixed tool in robot studio 
I want to make program for piece while the 7 axis move(turn table) and tool robot forward and reverse for same distance with every point target on. 
please help . 

Many thanks and best regards. 

SierraWhiskeyHotel

Hello h.esk60,

try to make the first value "robhold" FALSE in the used tooldata and the first value "robhold" TRUE in the used wobjdata. This will make the robot hold the workobject with the robtargets and the tool will be fixed in the position in relation to the world coordinate system.

Example:

PERS tooldata toolname := [ FALSE, [ [0, 0, 0], [1, 0, 0 ,0] ], [0.001, [0, 0, 0.001], [1, 0, 0, 0], 0, 0, 0] ];

PERS wobjdata wobjname := [ TRUE, TRUE, "", [ [0, 0, 0], [1, 0, 0 ,0] ], [ [0, 0, 0], [1, 0, 0 ,0] ] ];