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How to rotate around an arbitrary axis?

nihm20 ✭

March 31 in RAPID Programming

I have defined a new TCP that is offset from tool0. I want to do a rotation around my new tcp's z-axis (the blue axis in the figure). How do I do that?

Tagged:

• Tool Center Point
• Axis
• rotation

0

Answers

• 

  nihm20 ✭

  March 31

  
  

  0
• 

  mandolas ✭

  March 31 edited March 31

  Hi...

  Take a look at the RelTool() function.

  Good Job

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