Hi does anyone have a TCP extension function, I.E. TCP adjustable along its Z axis.
I would like to use something similar to the ArcWare instruction BETcpExtend
Hi, Thanks for your reply
The code above, MyTool.tframe.trans.z:=MyTool.tframe.trans.z + x; seems to adjust relative to the wrist coordinate system axis directions.
This will be great when the tool points in the same direction as the wrist but what if the tool is rotated differently to the wrist like a spray gun etc. So what I need is an method of extending the TCP along the TCP's current Z direction.
Kind regards with thanks.
Hi, My tool is indeed rotated in-line with the process, I.E. TCP&Z defined.
The code MyTool.tframe.trans.z:=MyTool.tframe.trans.z + x; extends Mytool relative to the wrist coordinate system,s Z axis.
What I would like to do is find a way to extend MyTool TCP along it own Z axis and not the wrist's axis.
I will have to find a way to calculate the TCP .trans.z and .trans.x value in order to extend the TCP along its own Z direction.