Hey guys,
I have a basic question about the default tool direction. I am a bit confused and don't really understand the purpose of $TOOL_DIRECTION. I have a KR10 R900 robot and by default the $TOOL_DIRECTION variable is set to #X. The Z axis points out of the flange and if I create a tool with A,B,C all 0, the tool direction is the same as of the flange coordinate system.
So far, so good. But if I change $TOOL_DIRECTION from #X to #Z, I can see no difference when I jog the robot around.
Can somebody tell me the purpose of $TOOL_DIRECTION?
Thanks
Daniel