How to make tool Offset?

Need more info!!

There are a few ways, but a quick way is to modify $tool

Two ways:

LIN_REL {X 10,Y 25,Z -20} #TOOL ; moves along axes of active Tool
;or
_NextPos = $POS_ACT : {X 10,Y 25,Z -20,A 0,B 0,C 0} ; create new point relative to current position, treating the current position as if it were the Base.  ALL XYZABC values MUST be entered, even 0s
LIN _NextPos ; move to point

These two techniques will do exactly the same thing. The advantage to the second method is that you could use a PTP move instead (PTP_REL only works on Axis points, not Cartesian points), and that you can calculate the move in advance and do checks against it.

LIN_REL, without the #TOOL tag on the end, will perform relative moves along the axes of the active Base.

ı trıed to wrıte code #tool but robot doesnt accep the code (#tool)
ı need help to move robot along to tool frame

It can be case sensitive.

Or try this

$base=$nullframe
$base=$pos_act
LIN_REL {x 100, y 200}

Robot should be move on X=100, Y=200 in tool directions with these three lines.

yes now ıts workıng. but why ıt dıdnt work before ı have used the pos_act with different ways but dıdnt work.

Hello all,

I'm sorry for re-opening very old topic. I'm looking for a bit universal solution. Above proposals allows to move in tool coordinates but only from current position where the robot is. Is there any possibility to apply tool offset to specific POS but before reaching it?

yes... in your program create another tool that includes offset - see post #4.

to observe influence on one thing, create program that keeps everything else same and just change one thing you are interested in. maybe run it in a loop (offset and no offset).

for example create test program

set offset tool as active tool and send robot to your position.

then set original tool as active tool and send robot to same position.

as mentioned, only change tool, keep base and point same.

Quote from gajder

Hello all,

I'm sorry for re-opening very old topic. I'm looking for a bit universal solution. Above proposals allows to move in tool coordinates but only from current position where the robot is. Is there any possibility to apply tool offset to specific POS but before reaching it?

Pos : Shift, where "Pos" is your programmed position, and "Shift" is a FRAME type variable with the 6DOF shifts you want to apply. By definition, this will shift the point along/around its own axes, which are (of course) the axes of the Tool that was used to teach that point. So:

DECL FRAME Shift
Shift = {X 0,Y 0,Z 100,A 0,B 0,C 0}
PTP PickPosition : Shift ; move to point 100mm from PickPosition along Tool Z+
LIN PickPosition ; move to PickPosition

It's a way of getting a "pre-pick" position that is always a fixed relationship to the pick position, without teaching two points.

Many thank guys,

this is exactly what I was searching or. I must read more about geometric operator.

Another universal solution is to use the KUKA provided TOOL_CORR frame and TOOL_CORR_ON defined in system/config.dat. One can set the frame to the required offset values and set TOOL_CORR_ON to true.

Beware of the advance run. It may be required to stop the advance run to activate the tool correction on intented line.

We raised our krc 4 up an inch is there anyway we can set an offset for z for the whole program

Select the points you want to shift then select from the edit menu marked region and shift by tool or base.

Quote from Trob2020

We raised our krc 4 up an inch is there anyway we can set an offset for z for the whole program

Did you use a Base, or did you program everything in Base 0?

If you used a Base, then you can simply shift that Base's Z value.

If you used Base 0 everywhere, you'll need to change all the motion commands to use a Base whose initial values are all 0, then shift that Base's Z value.

Or, as has been mentioned, you could use the Shift tools on the robot, or in an external tool like OrangeEdit.