Reltool rz:=180 and axis 6 direction

Falkia
Falkia
edited June 28 in RAPID Programming
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]];

Comments

  • lemster68
    lemster68 United States ✭✭✭
    You could:  1.  Calculate a jointtarget or 2.  Break it up into two successive reltools.
    Lee Justice
  • Falkia
    Falkia
    edited June 28
    lemster68 said:
    You could:  1.  Calculate a jointtarget or 2.  Break it up into two successive reltools.
    Thanks, I went with the jointtarget solution.
    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 jointtarget