Hi,
I am trying to do the following:
Move to a taught position PR[4]
Once I am at the position I would like for the position to be offset by 100 mm in X of the Tool Frame.
The issue that I am seeing is that no matter what I do to the Tool Offset register, the offset motion is in the direction of the frame.
I would like for the robot to move in the direction that the robot is pointing.
PR[98] = 0,0,0,0,0,45
PR[99] = 100,0,0,0,0,45
2: UFRAME_NUM=1 ;
3: UTOOL_NUM=2 ;
4: TOOL_OFFSET CONDITION PR[98:NO OFFSET] ;
5:L PR[4:Pick Vis] 500mm/sec CNT100 Tool_Offset,PR[98:NO OFFSET] ;
6: TOOL_OFFSET CONDITION PR[99] ;
7:L PR[4:Pick Vis] 100mm/sec FINE Tool_Offset,PR[99:TOOL OFFSET] ;