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Reltool rz:=180 and axis 6 direction
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Falkia
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In some cases I want to rotate the tool -180 degrees to pickup the part. In those cases I change the target robtarget with the code below. But when using the robtarget it always turns axis 6 in the wrong direction (no difference if I use Rz-180 or Rz+180). It is possible to reach both target with manual jog. With wrong direction of axis 6 the hose with the cables to the gripper will be damaged. Is there any way to force the direction of the movement or is there any other solution?
rt1:=rtFinal;
rt1:=RelTool(rt1,0,0,0\Rz:=-180);
The tooldata I'm using is:
PERS tooldata tGripper:=[TRUE,[[0,0,488],[0,0,1,0]],[7.6,[5.8,-0.5,192.3],[1,0,0,0],3.57,2.419,2.671]];
rt1:=rtFinal;
rt1:=RelTool(rt1,0,0,0\Rz:=-180);
The tooldata I'm using is:
PERS tooldata tGripper:=[TRUE,[[0,0,488],[0,0,1,0]],[7.6,[5.8,-0.5,192.3],[1,0,0,0],3.57,2.419,2.671]];
0
Comments
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You could: 1. Calculate a jointtarget or 2. Break it up into two successive reltools.Lee Justice0
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lemster68 said:You could: 1. Calculate a jointtarget or 2. Break it up into two successive reltools.
1 calculate a jointtarget from the robtarget
2 modify the value for axis 6 in the calculated jointtarget
3 calculate a robtarget from the modified jointtarget0
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