Hi,

I read the geometric operator in kuka manual.

As far us I Understood.

1.Right side is the resultant.

POS:FRAME=FRAME

FRAME:POS=POS

2.The right side will be destination with respect to left side. P1:P2. Robot goes to P2 in relative to P1's co-ordinates and orientation.

3. (P1:P2)<>(P2:P1)

Can you please tell me.

1. Have I understood correctly. If not please correct me.

2.For an example, I am having some pos and FRAME called

POS ORGIN={X -1675.58,Y -1154.81,Z 1070.78,A 38.35,B 1.45,C 180.0}

POS TESTPOS={X 0.0, Y 0.0, Z 30.0, A 0.0, B 0.0, C 0.0}

FRAME TESTFRAME1={X 0.0, Y 0.0, Z 30.0, A 0.0, B 0.0, C 0.0}

FRAME TESTFRAME2={X 0.0, Y 500.0, Z 0.0, A 0.0, B 0.0, C 0.0}

Can you please tell me. What will happen?

LIN ORGIN:TESTPOS ;??????

LIN TESTPOS:ORGIN ;?????

LIN ORGIN:TESTFRAME1 ;??????

LIN TESTFRAME1:ORGIN ;?????

LIN TESTFRAME1:TESTFRAME2 ;????????????

LIN TESTFRAME2:TESTFRAME1 ;????????????

Thanks in advance