Angle offset relative to the actual Tool

  • Hi all , I want to do a variable rotation of the "A" , and it must be relative to the actual Tool .
    I already tried :
    Var.A=c
    P2 = P1 : Var , but in this case the rotation is not done to the actual tool
    Also I tried :
    LIN_REL {A c} #TOOL , but this instruction does not accept variable , "c" must be a constant .
    Thanks for your help .

    Edited once, last by nc56 ().

  • AD
  • no...


    let's brake it down:


    entire line of code (without optional comments) is called instruction or in this case that would be:
    LIN_REL {A c} #TOOL


    instructions are built/composed from commands and parameters.


    first token on the left is called command so in this case that would be LIN_REL.


    Remaining terms are parameters or in this case:
    1) position value: {A c}
    2) coordinate system: #TOOL



    commands (usually) do not care if their parameters are variables or constants.


    in this case problem is that you are trying to use incorrect position parameter (trying to make a constant out of variable):
    LIN_REL {A c} #TOOL


    aggregate (term in curly braces) is a constant itself - it is used to specify constant values of structures, therefore values of all of its elements also must be constants/literals.


    would you consider using variable as a position parameter (structure) for your motion instruction:
    LIN_REL P2 #TOOL
    or
    LIN_REL Var #TOOL



    EDIT ---- some color coding and fixing my own terminology ;-) (too much eggnog :beerchug:)

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Edited once, last by panic mode ().

  • what panic mode said is definitely correct.it's using the satndard relative command.Actually, you also can do it with geometry operator":".
    LIN $pos_act :frame---> Means move robot a frame vector in tool coordinate system.
    LIN frame:$pos_act -->move robot with a frame vector in base coordinate system.


    来自我的 MI 5s 上的 Tapatalk

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