Well, it's been a looong time since I had to do anything like this in RAPID, but if I understand you correctly, you could probably do something like PoseMult(CRobT, PoseInv(tool data))
The idea is, you take the current position of the TCP, and multiply it by the inverse of the active tool. That should get you the position of "Tool 0", the center of the A6 flange, in the active Work Object.
If your World/Base is not the same, the relationship between them should be known (check your system parameters if nothing else).
Easiest way to accomplish what you're looking to do is to convert your current position into joint target (using your active tool/wobj)
and then convert the joint target back to a robtarget using Tool0 and a wobj with the known "negative" relationship between your Base/world. This should (in theory anyway, I haven't tested it yet) give you the robtarget in BASE using tool 0 and from there you can extract the pose (if that's all you want).
Why not just CRobT(Tool0,Wobj0) ?
Last I checked that would give you the coordinates relative to World.
So if the world and base are coincident, that would be sufficient. But like you said, if they are not, then perhaps more work needs to be done.
The position of the tool relative to world object is known
And is the product of three transformations:
Worldtobase*basetotool0*TCP
You want to know the position tool0 relative to base
You then need to premultiply by the inverse of Worldtobase and post multiply by the inverse of TCP
I am sure there are commands inside RAPID to do the math
What robot were version is installed in your robot?
IN version 6.5 new useful mathematical functions were added
