Our customer demands us to jog the robot for compansating the y direction with respect to tool direction in aut mode while welding. We are using arc_voltage control to compansate z axis(tool frame). Therefore we put the buttons and connected to buttons to plc. when operator push the button for tools y+ movement robot changes the next position values so we cant change the actual pos. Also , we are welding the circular material when it changes the next pos values circle movements changes also.
And tried to change variables like this...
Tool_corr.y=[x,y=50,z,a,b,c] and that is not a solution for our system.
exactly what ı am traying to do is that when we press the button robot must go to y + 1 mm but it mustnt change the position values
Wv .. 4,0,10
thx in advance for your help;