Change orientation of tcp in Rapid - imperfect

Laro88
✭
I have a tricky issue that I hope an expert can help me with.
I need to reorientate the tool and then start a new motion. I peform the reorientation using a moveL which works, however the robot makes a small move ( like a jerk )
What is the best way to reorient a tool while maintaining the physical position of the tool?
Current rotation code:
robtargetTemp := CRobT (Tool:=tRapProgram WObj:=wobjRapProgram); !Inline alignment, AngleWithXAxis:80,27
robtargetTemp.rot := [0.764514164391624,0,0,-0.644606928635255]; !Generated quaternion from angle
MoveL robtargetTemp,v1000,fine,tRapProgramWObj:=wobjRapProgram; !Done with inline alignment (reorienting here )
Regards
Laro882009-11-08 14:51:34
0
Comments
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IF your TCP is OK then, I should try this,calculate your position (CRobT(.....)Movel RelTool(robtargetTemp,0,0,0Rz:=90), .........0
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