Tool Orientation

robbie222

Has anybody had trouble when programming a double ended tool?

 

Both ends are of equal length and have been defined and using the same lines of code with different work objects

yet when rotating the grippers one side is aligned perfectly straight whilst the other is slightly off centre, is there any way to correct this?

 

Also how can i just rotate joint 4-6 without it affecting joints 1-3? im having issues with selecting the end of the tool and the space available for manouver

 

any help would be appreciated