Tool Rotation

jackson123

Hey guys I'm wondering if any of you could aid me this is tearing my hair out lol

 

I'm using a twin sided tool but when the robot switches between the two the arm moves to accomodate, is it possible to only get joint 6 to rotate?

 

I'm using an IRB140 if thats any help

 

Thanks

 

Jackson

PerSvensson

Hi

Take a look at MoveAbsJ or MoveJ RelTool(...........),,,,,

jackson123

Thankyou I'll give it a try