Hey guys,
First day using offsets, so I have a question. Need to offset in the X direction and rotate as well in the same movement.
Should be, if I'm not mistaken:
PR[1,1]=PR[1,1] + 100
PR[1,6]=PR[1,6] + 100
L PR[1] 250IPM CNT100
BUT I have a faulty TCP, it walks away in all sorts of directions with rotation... say, an inch per 180 degree rotation. Trust me, I have played with it a ton, and nail TCP on any other robot except this one. Tech's get baffled as well...
Works just fine with any straight X, Y, Z movements in WORLD though.
Soooo. any ideas on logic to keep the correct TCP while adding a rotation?