Change Tool distance from Workobjekt online

Robodance

Hey There,

my problem is that I have no idea how to change the distance from my tool to the workobjekt online. The reason for this is that I have to do spaying experiments with the same workobjekt and the same path on it, but diffrent Tool offsets from the surface.

Is there a way to change this online in the flexpant? This would be faster and more user friendly than creating alot of diffrent offline programs.

 

My Idea was to change the calibrationdata of the toolframe.

When I change the first number (221.966) my toolframe changed the position in the direction of my worobjekt and so the distance changed to the Workpiece in the simulation

 

PERS tooldata LiBo_Z110:=[TRUE,[[221.966,-7.793,145.418],[0.476458668616664,-0.503060213902787,0.523515207602204,-0.495832013586596]],[16,[0,0,1],[1,0,0,0],0,0,0]];

 

That works fine in Robotstudio, but I am not able to change the tooldate in the Flexpant, don't know why.

My second Idea was to declare a variable for the 221.966 and change the value of the variable on the Flexpant. But it is not possible to declare variables out of a routine.

 

Any Ideas how I can's solve my problem?

Thanks guys

graemepaulin

Hi,

 

Have you tried

 

RelTool (Relative Tool) is used to add a displacement and/or a rotation, expressed in the active tool coordinate system, to a robot position.

MoveL RelTool (p1, 0, 0, 100), v100, fine, tool1;

The robot is moved to a position that is 100 mm from p1 in the z direction of the tool.

 

or

 

Offs is used to add an offset in the object coordinate system to a robot position

MoveL Offs(p2, 0, 0, 10), v1000, z50, tool1;

The robot is moved to a point 10 mm from the position p2 (in the z-direction).

 

You can use variables for the offsets in the above if you want.

 

Cheers

Graeme

Robodance

Thanks for your reply,..

 

I will tried it

Robodance

Thaaaaanks so much!!! It works!!!!

exactly the way i wanted it