System Variable for Acceleration

    Is there a variable or an easy way to get acceleration in the world coordinate system?


    $ACC_CAR_ACT seems to be aligned with the tool, and adds in gravity as well.


    KSS 8.5.X

    Edited once, last by brianr ().

    well i just tried it and changing tool data had no effect whatsoever.

    but what did have an effect is the flange orientation.


    any Cartesian data can be manipulated with help of geometric operator (position, speed, acceleration, load etc.)

    1) read pinned topic: READ FIRST...

    2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly

    3) read 1 and 2

    Just off the top of my head, probably something like:


    Tool0Pos = $POS_ACT_MES : INV_POS ($TOOL) ; get the position of Tool 0 (flange) in the active Base


    Set the XYZ of Tool0Pos to 0s, leaving just the ABCs.


    BaseAccel = Tool0Pos : $ACC_CAR_ACT

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