Hello all,
despite some contributions to the calculation of positions I have somehow problems with the implementation of a calculation program - I am just a MOTOMAN beginner.
Moving positions in user coordinates is no problem and works wonderfully:
'GET REF-POSITION
CNVRT LPX000 PX020 UF#(2) TL#(1)
'
'ADJUST X-VALUE
GETE LD000 LP000 (1)
ADD LD000 D010
SETE LP000 (1) LD000
But now I want to offset the position adjusted in UF#(2) by the X value around the TL#(1) in RX, but unfortunately my robot rotates around RZ!?
'ADJUST RX-VALUE
GETE LD000 LP000 (4)
ADD LD000 D013
SETE LP000 (4) LD000
The points should be calculated in advance in the calculation program and and later approached in another program.
What am I doing wrong or with which command sequence would I get the desired result with MOTOMAN?
Best regards