Tool Re-Orientation

yasso

Hi

I would appreciate if you can advise the best command to re-orient the tool to the absolute (0,0,0) Euler Angles without changing the (x,y,z) position of TCP.

i.e. after rotating the tool using RelTool, I would like to bring the tool back to original orientation where tool coordinate system is parallel to world coordinate system.  the problem I am facing is that if I use RelTool with negative values of the original rotations, the tool does not return exactly to the initial orientation.

Thanks

SteveM

Suggestions:

Manually you can use the Align function on the FlexPendant to align the TCP to a given workobject.

 

Automatically, you can create a robtarget with the same orientation as the robtarget and then do a move.

 

 

leonardolt

Hi Yasso.

Have you tried moving back your tool using its quaternion values? Maybe I didn't undestand you problem at all, bu my sugestion is the following:
 In the initial position, store the current robtarget in a variable. So, after movin the robot all over the path, there are two options for you. 1st is to move it back to initial position, simply executing a move to the previously stores robtarget. 2nd is to keep the actual TCP position and just reorienting the tool. This can be done by creating a new robtarget, wich is to be composed by the XYZ coords of the current position and the quaternion values of the initial position.
 To programaticaly read the actual position and orientation of the tool, you can use CRobT function. The XYZ coords fo a robtarget can be accessed by the following sintax: "pRobT.trans". In the same way, the orientation component identified by: "pRobT.rot".

 I hope this can help you some. If you need anything else or if this is not the solution, just let me know and maybe I can help you better.

 Leo

szily85

Hello there,

I'd like to ask YOU something.

I have a IRB 140 robot at my work, I have set a robtarget for the robot, I use a tool for welding.

The task is: the tool approaches the robtarget and stops for welding, BUT after a while the defined orientation changes and the tool is not aligned in the robtartget as it has to be for welding.

The question is, how is it possible that the orientation for the tool is changing automatically after a while.

I'm 100% sure nobody has changed it manually.

Many thanks

Szilard