I have an issue where I want to be able to offset a point, but mainly the rotations around XYZ, so WPR.
L P 500mm/sec FINE ACC30 Offset, PR
P coordinates are:
This the point in question, the PR offset, I am just changing the P component on it, so PR:
However, when that is applied the robot actually turns 15 degrees around the TOOL X axis, and not around the WORLD Y axis.
XYZ changes work just fine and they are being applied according to the world frame.
I have attached a short video to show my issue.
I guess my question boils down to, how do I tell the robot "hey, take this point (P) and apply P(Pitch) offset calculated around the WORLD frame"?