Hello!
I am trying to set the TCP of the new tool in krterm at this stage. Previously i was using a pointer tool with a 165mm offset in the Z+. I didn't have a problem with this. The new tool is offset 297 in Z and rotated 30 deg on the flange so I think the pose should be (0,0,297,30,0,0). However when i load this tool and check the actual tool pose it reverts to a (0,0,-228,0,0,0). From my troubleshooting I have noticed that if I have only 0 in A,O,T then the pose is retained. However, if I have a value in A,O,T then in reverts to this pose.
Below is my troubleshooting in KRTerm.
>point pointer
X[mm] Y[mm] Z[mm] O[deg] A[deg] T[deg]
0.000 0.000 165.000 0.000 0.000 0.000
Change? (If not, Press RETURN only.)
>tool pointer
X[mm] Y[mm] Z[mm] O[deg] A[deg] T[deg]
0.000 0.000 165.00 0.000 0.000 0.000
Change? (If not, Press RETURN only.)
>tool
X[mm] Y[mm] Z[mm] O[deg] A[deg] T[deg]
0.000 0.000 165.00 0.000 0.000 0.000
Change? (If not, Press RETURN only.)
>point tool889
X[mm] Y[mm] Z[mm] O[deg] A[deg] T[deg]
0.000 0.000 297.000 -30.000 0.000 0.000
Change? (If not, Press RETURN only.)
>tool tool889
X[mm] Y[mm] Z[mm] O[deg] A[deg] T[deg]
0.000 0.000 297.00 -30.00 0.000 0.000
Change? (If not, Press RETURN only.)
>tool
X[mm] Y[mm] Z[mm] O[deg] A[deg] T[deg]
0.000 0.000 -228.00 0.000 0.000 0.000
Change? (If not, Press RETURN only.)
I am sure there is an explanation for this but I can't work it out and haven't found any answers in the manuals.
Any assistance would be greatly appreciated.