Robot movement

    Hello
    Can someone help my please with some ideas regarding the offset. The application is to move a cylinder part to a sensor and rotate A6 util the sensor is true.
    I will use BRAKE and store POS_INT for the orientation of XHORIZ_0.
    Then I have to move to several point using that orientation. I tried to move with offsets .

    XAPR_15=XHORIZ_0 : {X -30,Y 0,Z -100, A 0,B 0,C 0}
    PTP APR_15 CONT Vel=30 % I Tool[1]:GRIPPER Base[3]:POST CD

    XAPR_05=XHORIZ_0 : {X -30,Y 0,Z 0, A 0,B 0,C 0}
    LIN APR_05 Vel=0.5 m/s I Tool[1]:GRIPPER Base[3]:POST CD


    LIN HORIZ_0 Vel=0.2 m/s I Tool[1]:GRIPPER Base[3]:POST CD

    XHORIZ_180=XHORIZ_0 : {X 0,Y 0,Z 0, A 180,B 0,C 0}
    LIN PERIERE_ORIZ_180 Vel=0.5 m/s I Tool[1]:GRIPPER Base[3]:POST CD

    XDEP_10=XHORIZ_180 : {X 30,Y 0,Z 0, A 0,B 0,C 0}
    LIN DEP_10 Vel=0.5 m/s R Tool[1]:GRIPPER Base[3]:POST CD

    The problem is that if I rotate A6, the tool orientation changes random depending of the sensor detection. And when I make offset the robot can crash if the orientation is 180 different.
    Should I use other method like Axis coordinates or LIN_REL? Or I don't understand right now how it will work because is don't have the sensor to test it:)
    Thank you!

    i am not entirely sure what you are trying to do, but if you want only a6 to move then only move A6 with for example PTP_REL(a6 30). If you need your movements a bit more complex why not change the Tool or base data in the program.

    Every problem has a solution, that isn't the problem. The problem is the solution.

    Thank you for answer.
    I'm trying to move the robot in different positions with the gripper orientation found by the sensor.
    1. I have to move all directions (X,Y,Z) but to keep the gripper parallel with Y -axis in base frame.
    2. In 2 points I have to rotate A +-180 degree.

    Oke that should be easy to realize, basically you need to "measure/detect" your Tool orientation before you run your program that could look something like this:

    In theory when the sensor becomes high in tcp_current would be the correct tool data to run the rest of your program.

    Every problem has a solution, that isn't the problem. The problem is the solution.

    Thank you Leon. This was a very good idea. For now is working but I have to make more tests.
    Does someone can tell why the axis 6 goes the shortest way?
    The starting point - P1 have S and T.
    I move PTP {A6 +190} from P1 . If select again P1, the robot rotate A6 + and not go to -.
    Thank you!

    Are you moving to cartesian point (ptp{x ..,y...,z...)? because then the robot always moves the shortest way. if you don't want that behavior you have to move to specific axis positions (PTP{a1 ...,a2...,a3...}

    Every problem has a solution, that isn't the problem. The problem is the solution.

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