Offs and RelTool

dragolollo

Hello, 
Is there a way to use Offs and RelTool together? Let consider for example a pick and place application: before to pick an object I want to go to an over_pick position which is 30 mm over the pick and I can do it using Offs (pick,0,0,30), but I have also to reach the over_pick rotating the tool by 90 degrees (so I would need: RelTool (0,0,0 \Rz := 90). Can I use these 2 simultaneously?
Thank you in advance!

lemster68

Or, something like p10:= Offs(pPick,0,0,30) then MoveL Reltool(p10,0,0,0\Rz:=30) etc...

lemster68

You can use them sequentially, probably would be useful to use the CRobT function.

xerim

Doesn't RelTool allow for displacement and rotation?

MoveL RelTool (p1, 100, 0, 0 \Rz:= 90), v100, fine, tool1;

dragolollo

The last solution seems good for me, thank you!!! 

graemepaulin

You have to bear in mind that the x, y, z displacement is in the tool coordinate system which rotates with the tool so will not normally line up with the base frame of the robot.....

Gapps

I have a similar problem, before I place my target I want to rotate it by a certain amount and move it in an offset relative to my tool. Again, the robot follows the coordinates of the workobject, not the tool, with the relTool command. 

mandolas

Hi...

Something similar is being commented here:

https://forums.robotstudio.com/discussion/14050/move-reltool-for-x-and-y-axis#latest