I have to swap out a tool at a client's site. The MOVESETTINGS commands in the code refer to tool frame 1. When I went to Startup->Calibrate->Tool->Fixed Tool and looked at tool 1, and the numbers are a bit puzzling. I see 1287, 653, 115mm for the x,y,z values. Normally (at least with Motoman robots) the tool calibration is with respect to the flange, and the numbers represent the offset from it. The tool dimension is 12" (L) x 12" (W) x 8.25" (H). I am not able to correlate the numbers.
I was looking at the wrong tool!
How do I write a PTP or a LIN move with a sensor to tell me when to stop moving? What is the syntax?
How do I modify an existing PTP or LIN move to be an approximate move? I see a line that looks like this:
PTP xIntPoint[1] C_PTP
Can I make it continuous by saying:
PTP xIntPoint[1] CONT C_PTP
?
