Author Topic: Update robot frame for a move  (Read 440 times)

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Offline grimes

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Update robot frame for a move
« on: September 14, 2018, 10:01:25 AM »
Hello to all,
I'm facing an issue making a simple program using the FDOnDesk simulator. I want to update a pose (in tool coord) of a specific custom shift (X,Y,Z and R,P,Y) I stored in R1 inside a user task.
The program should be something like that:

   MOVEX ..
CALLMCR 100,10000
SHIFTR 1,1,R1,10000
   MOVEX ..


I'm using the SHIFTR function, in tool coord, and everything work but only for the X,Y,Z components: no rotation components are updated. I also tried with LOCCVT3, but it applies the shift in base coord. There are other functions/procedures I'm missing?

Thank you, regards.
Matteo