RobotStudio event

WObj and Tool coordinates

Hi,

I work with system with 2 external axes.

I created movement with offset:
MoveL p10, v20, z5, t_ToolWObj:=wobj_1;
MoveL Offs(p10,reg1,reg2,reg3), v20,z5, t_ToolWObj:=wobj_1;
                    Add    reg1,0;
                    Add    reg2,5;
                    Add    reg3,0;
to create movement with several 5 mm steps.

The problem is, that tool moves in WObj space and I cant just "5" to reg2. How can I modify an instruction to offset a tool position in tool coordinates?

See a picture below, maybe it will help to understand my problem.
Tool have to do an offset move by 5mm in several differently orientated areas.
image

Anyone knows how to do it in easy way?


Comments

  • Instead of using Offs function use the RelTool function. This allows you to offset in the tool coordinate system x,y,z and rx,ry,rz.
    MoveL RelTool(p10,reg1,reg2,reg3), v20,z5, t_ToolWObj:=wobj_1;