Align Orient a position on a reference orientation and lock the Z axis

LeCabellec
LeCabellec ✭
in RobotStudio
Hello,

I try to realize the align orientation to position in Rapid language. (Function that exists through the robotstudio interface) oriented towards the reference position



I want to align the orientation by blocking the Z axis

The z axis of my tool is not aligned with tool0. The tool is a milling cutter. I want the wrist always to stay in the same direction. The tool is rond.

if I change the angle Z this influences the angles X and Y. Because the convention Roll Pitch Raw 

My idea is :

1 - make off-line tangent trajectories
2 - In langage Rapid compensating the diameter tool
3 - Align Orient on a reference orientation
4 - Execute the trajectory

The change the diameter tool is easy. Not modifie trajectory off-line

Comments

  • LeCabellec
    LeCabellec ✭
    I succeeded after a good night's sleep
  • Yerrune
    Yerrune ✭
    LeCabellec said:
    I succeeded after a good night's sleep
    Would you be able to share your RAPID code to achieve something similar to "align target orientation" in RAPID?

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