Hi there,
sorry for my bad english but i will do my best.
I'm beginner in programing with PDL2. Maybe my questions are easy for you but i don't.
I have all my Tool measurements and stored them in Tool[1].
My first question is, how can i implement them to my programm? is there a easy way just to tell the programm, "use Tool[1]"?
At the moment i solved it that way:
$TOOL := POS(x,x,x,x,x,x, '')
$TOOL_CNTR := POS(x,x,x,x,x,x)
$TOOL_MASS := x
$TOOL_RMT := FALSE
$TOOL_INERTIA[1] := x
$TOOL_INERTIA[2] := x
$TOOL_INERTIA[3] := x
$TOOL_INERTIA[4] := x
$TOOL_INERTIA[5] := x
$TOOL_INERTIA[6] := x
$BASE := POS(x,x,x,x,x,x, '')
$UFRAME := POS(x,x,x,x,x,x, '')
But it doesn't work well. I have allways to reset all frame settings ($UFRAME, $TOOL, $BASE) in the hand-held device (motion).
My second question, is there another way to move in tool cordinations as with "MOVE RELATIV VEC(x,x,x) WITH TOOL" ?
I want to move absolute and also need some special movement types like "MOVE CIRCULAR" etc.
I read the manual and also used to example programs from other workers, but i can't get ahead.
Thx for helping
greets marc