Chaning the Z value of TCP during the program

Answers

• Mjsh635 Windsor, On ✭

  January 23

  I found that if i use "Tool0.tframe.trans.z:=" i can place this in the robot routine and execute it after the imagine and data processing.

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• lemster68 United States ✭✭✭

  January 23

  Yes, but you shouldn't change tool0.  Make an assignment to a variable tool, even if it has the same values as tool0.

  Lee Justice

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• egor Moscow ✭

  January 24

      TASK PERS tooldata tMill_etalon:=[TRUE,[[149.484,1.44639,39.5727],[0.00336725,0.706518,0.0442334,0.706304]],[5,[0,0,35],[1,0,0,0],0,0,0]];

      TASK PERS tooldata tMill_corr:=[TRUE,[[149.484,1.44639,39.5727],[0.00336725,0.706518,0.0442334,0.706304]],[5,[0,0,35],[1,0,0,0],0,0,0]];

  
  

      TASK PERS pose tTool_temp:=[[154.411,2.05005,46.4739],[0.00336725,0.706518,0.0442334,0.706304]];

      TASK PERS pose tTool_corr:=[[0,0,2.5],[1,0,0,0]];

      TASK PERS pose tTool_result:=[[156.907,2.19437,46.4683],[0.00336725,0.706518,0.0442334,0.706304]];

  
  

  PROC Tool_Z_Offset()

  
  

          tTool_temp.trans:=tMill_etalon.tframe.trans;

          tTool_temp.rot:=tMill_etalon.tframe.rot;

          tTool_corr.trans.z:=dz;

          tTool_result:=PoseMult(tTool_temp,tTool_corr);
  
  

          tMill_corr.tframe.trans:=tTool_result.trans;

          tMill_corr.tframe.rot:=tTool_result.rot;
  ENDPROC

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