Hi everyone,
I'm an engineering student and now I'm using UP6 and XRC controller for my project. My problem is i don't know how to program for moving the robot parallel with the Z-axis of tool coordinate.
In the picture, Z-axis of tool coordinate is the axis of the spindle motor, the direction of the spindle is perpendicular to the object and I want to move the spindle follow this direction with a certain distance.
Many thanks in advance!