Hi all.
I've starting in robot programming with ABB, and my difficulty when I programming in KUKA was the missing of an offset function.
So, I write a function, called offs() ...
The function:
DEFFCT E6POS Offs (pPosicaoOffs:IN,X:IN,Y:IN,Z:IN)
REAL X,Y,Z
E6POS pPosicaoOffs
pPosicaoOffs.X=pPosicaoOffs.X+X
pPosicaoOffs.Y=pPosicaoOffs.Y+Y
pPosicaoOffs.Z=pPosicaoOffs.Z+Z
RETURN (pPosicaoOffs)
ENDFCT
Ex.: PTP Offs(Point, X_offset, Y_offset, Z_offset)
Very simple, but very usefull. At least for me.
Ps.: Sorry for my poor english.