Hello, I have been learning to program my robot using position variables. So far so good I think.
Operating with linear moves and XYZ coordinates my program acknowledges:
+/-z moves the robot linearly up or down relative to the floor (or robot base).
+/-Y is for the robot moving linearly to my right or left when I am facing it.
+/- X is for the robot moving linearly closer or farther away from me when I am facing it.
This matches the movements as expected from the operators manual diagram.
I now realize my positions may be off because my tool center is 158.4mm out from the robot wrist flange.
Tonight I calibrated the tool center point with the (5) taught positions for the center.
My problem is that now, +/- x is the robot moving up or down and +/- z is the robot moving closer or farther away from me. The x and z seem to have been swapped. I have tried to change the tool angles per the manual but it doesn't seem to make a difference. I wonder if my program just needs to have the x and z elements swapped in the position variables?
Would someone help me out please? What I am missing? Please see the attached photos.