Hi all!
I currently an running a KR150 KRC2 (V4.83). I have an end-effector mounted to the flange that sits on a pneumatic slide. This slide acts along the X axis of my current TCP. For compensation reasons, I am trying to find the component of gravity acting in the X direction. Is there a system variable that does this? Is there an easy way of calculating this?
Looking a the system variable $ACC_CAR_ACT I see that there is a value of 9.806650 in the X component; however, this value always stays there and never changes (even when I flip my head 90deg; in which I would expect to see the 9.806650 in the Y component). Any help?