Hi! I have an M-710iC/20L with an R-30iB controller.
When moving the robot to a point P[1] (with P[1,4]==135, P[1,5]==0, P[1,6]==90) with a tool offset PR[3] (with only PR[GP1:3,3]=(-200) set), he is positioned away from the point in tool frame coordinates as expected.
But as soon as the WPR values are transferred to the tool offset, so that P[1,4..6]==0 and PR[3]==(0,0,-200,135,0,90), the z offset is applied in world frame coordinates.
U_TOOLNUM=2 ;
PR[3]=LPOS-LPOS ;
PR[GP1:3,3]=(-200) ;
PR[GP1:3,4]=135 ;
PR[GP1:3,5]=0 ;
PR[GP1:3,6]=90 ;
// P[1,4..6]==0
J P[1] 100% FINE TOOL_OFFSET,PR[3] ;
The same outcome happens if the WPR values are moved to PR[2] and applied via an additional OFFSET command.
Neither the Fanuc support with Roboguide nor my own Roboguide with a backup of the controller could reproduce the problem.
For now the only solution would be, for each move command, to precalculate the WPR values into a rotation matrix, multiplied with the z offset vector and applying this result as an OFFSET, since the robot program is dynamically generated on a PC and uploaded.
Has anyone observed a similar behaviour?
Is it possible to dynamically change a tool frame in the robot program?
Are there other but simpler detours?
Thanks in advance.