Relative movement LIN

  • Hello,

    I want to move to a certain point but with an offset of 10 in Z direction. How I can do that?

    For example i want stay 10 above the position Xhole. I have tried that but ther I get an error Xhole value Invalid

    In .src file

    LIN Xhole:{z 10}

    Declaration in .dat

    DECL E6POS Xhole={X 80.8741150,Y 102.891571,Z 10.6646614,A 179.864761,B -0.308154494,C -179.926727,S 2,T 35,E1 0.0,E2 0.0,E3 0.0,E4 0.0,E5 0.0,E6 0.0}
  • specify entire frame, not just Z part of it

    LIN Xhole:{X 0, Y 0, Z 10, A 0, B 0, C 0}


    DECL FRAME Shifted

    Shifted = $nullframe

    Shifted.Z = 10

    LIN xHOLE:Shifted

    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

  • LIN Xhole:{X 0, Y 0, Z 10, A 0, B 0, C 0}

    Note: this will move the robot to a point 10mm from XHole, along the Z+ axis of the tool.

    To make the offset along the Z+ axis of the active Base, you need to reverse the order of the operands around the Geometric Operator:

    LIN {X 0, Y 0, Z 10, A 0, B 0, C 0} : Xhole

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