Remote TCP and ToolOffset PR[x] motion option

  • I'm trying to use Remote TCP, and I want to make relative Tool moves about the remote TCP.
    Apparently, the ToolOffset PR[n] motion option does not respect the Remote TCP option, and it uses the actual User Tool, rather than the Fanuc Remote TCP, which is a User Frame.

    Example:
    L PR[99:RelToolMov] R[200:ToolRelMovSPEED]mm/sec FINE Tool_Offset,PR[98:RelToolMovOff] RTCP ;

    Q: Is there a method or technique I could use to make relative rotational moves about the Remote TCP?

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  • This is a pretty long shot, but did you end up finding a solution to this? I'm currently running into this now.

    Have you tried a regular offset?

    I've been experimenting with Roboguide, and both tool_offset, and offset function relative to the currently active UTOOL, not the RCTP.

    Check out the Fanuc position converter I wrote here! Now open source!

    Check out my example Fanuc Ethernet/IP Explicit Messaging program here!

  • Good idea. However, it ends up behaving the same way as applying offset to the move.


    Code
    10:L P[12] 250mm/sec FINE RTCP
      :  Offset,PR[96]
    11:
    12: PR[97]=PR[96]+P[12]
    13:L @PR[97] 250mm/sec FINE RTCP


    Line 10 and 13 preform the same motion.

    Check out the Fanuc position converter I wrote here! Now open source!

    Check out my example Fanuc Ethernet/IP Explicit Messaging program here!

  • I figured it out. The key is $OFFSET_CART. Set to true, it functions the way I want it to, rotating around the RTCP. Set to false, it rotates around the active UTOOL.


    The handling tool manual goes over it in detail, but the crux is 1 = multiplicative, 0 = additive.


    Edit: This is only true for OFFSET PR[...]. Doesn't work for TOOL_OFFSET PR[...]

    Check out the Fanuc position converter I wrote here! Now open source!

    Check out my example Fanuc Ethernet/IP Explicit Messaging program here!

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