Hi,
I wanted to move the end-effector with respect to tool. Below is my KRL code-
Code
PTP{A1 90,A2 -90,A3 90,A4 0,A5 90,A6 0}
$BASE = $WORLD ;Setting the base as World Coordinate System
$TOOL = TOOL_DATA[10] ; Setting required tool
$IPO_MOPE = #TCP ;Move wrt TCP
PTP_REL{Z 100}
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Since the Z axis of Tool is directing towards grounds, the last PTP_REL command should move the end-effector towards the ground. But the end-effector is moving upwards. It seems that the end-effector is not moving wrt Tool Coordinate Frame.
Please note that the robot is KUKA KR5 Arc with KRC2 controller.