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 .
Angle offset relative to the actual Tool
- nc56
- Thread is marked as Resolved.
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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} #TOOLinstructions 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: #TOOLcommands (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} #TOOLaggregate (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 #TOOLEDIT ---- some color coding and fixing my own terminology (too much eggnog )
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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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