Hello everyone,
My robot system like shown bellow.
->DX200
->R1+S1(2 Axes)
->SETUP - GRP COMBINATION - R1+S1:S1 finished
->ROBOT - ROBOT CALIB finished : the TCP can track the axes in SYNCRO mode
My question is how can I get the Cartesian coordinates in the coordinate system.
Now I can find the current position in ROBOT - CURRENT POSITION, but the R1 and S1 are not combined to a coordinate system.
If I move the robot, (X, Y, Z, Rx, Ry, Rz) will be changed, if I move the external rotation axes, (S1:1, S1:2) will be changed.
However, I need to get a position(X, Y, Z, Rx, Ry, Rz) include the R1 and S1.
With KUKA robot, I can get this position in the WORLD coordinate system, the if the robot is shifted, the XYZ will be changed, if the external axes are rotated, the XYZABC will be changed.
I don't know how to get what I want, is there a INFORM or a Motoplus API can supply this? Or I need another option?
Thank you.
Kind regards,
Jonson