Hi All!
On the KUKA there is a coordinate system called $robroot. This corresponds to the center of the base of the robot - even when the robot is mounted on a track. So if the robot is moved on the track, the TCP coordinate in the $robroot coordinate system will remain constant (as long as only the external axis is moving).
Is there a way to get something similar to $robroot on an ABB robot?
Thanks in advance!
/RoboticsMan