Hi there,
I'm working with a KRC4, system software 8.5.8, it is a KR120 R2700-2 manipulator. So, I'm using one robot tool, with a specific TCP, but from time to time I need to do a rotational motion, but the centre of rotation of the motion should NOT be where the TCP is. What is the best practice here, so far I'm doing a LIN_REL{C+20} after I have changed the tool_data to offset my TCP to the desired centre of rotation, and then after the motion has been executed I change back to the "real" tool_data and TCP. This kind of feels a bit of rough programming, and I'm wondering if there is a better way to change the centre of rotation of a motion, such as LIN_REL{C+20}?
Thanks for your time//