Move robot about the tooling, How to?

[jonfarrugia]

This is my first go with a Kawasaki robot so please bare with me.

I am programing an E series robot with a router mounted on the robot tooling face. The rotating bit is 90 degrees to the tooling face of the robot. The job requires me to cut circle holes out of a plastic container on a few differerent plain. I'm creating a recover program that will determine if the router bit is within the cube of a drilled hole. If the robot is still in the cube, meaning it may be halfway through the routing process. At this point, I need to back the tooling out of the work piece at exactly 90 degrees to the cutting plain. What commands would I use to move the robot out of the hole. Move the robot parallel to the drill bit out of the hole. The hole may not be on the real world x,y or z plane. It may be on a user defined plane.

Any idea? Hope I explained myself ok.

[tdevine77]

Maybe LDEPART ?