
Offs and RelTool
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!
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!
0
Best Answer
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Or, something like p10:= Offs(pPick,0,0,30) then MoveL Reltool(p10,0,0,0\Rz:=30) etc...Lee Justice1
Answers
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You can use them sequentially, probably would be useful to use the CRobT function.Lee Justice0
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Doesn't RelTool allow for displacement and rotation?
MoveL RelTool (p1, 100, 0, 0 \Rz:= 90), v100, fine, tool1;
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The last solution seems good for me, thank you!!!0
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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.....0
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