I confess, I've been lazy. Normally I read a lot before I ask questions, but today I'm tired and I would like to have an answer for tomorrow.
Let say that the robot is mounted at 15 degrees from the floor but I'm working on a horizontal table.
Assume the table is user frame 7. How do I read the position of the TCP with respect to that user frame.
Nomally I would do
PR 15 = LPOS
R 15 = PR 15,3
How do I make reference to the user ? I dont want to use trigonometry