Align Orient a position on a reference orientation and lock the Z axis
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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
0
Comments
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I succeeded after a good night's sleep0
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LeCabellec said:I succeeded after a good night's sleep
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