Hi there,
I've been jogging the robot to various locations of interest, writing down the axis positions, and then feeding them to the robot in a program via PTP commands. Now I want to do the same with LIN type motions. However, it appears that the frame that the jogging is working in is different from what $POS_ACT is using: The XYZ match, but the ABC are different.
I've fiddled around with the Tool Selection/Base Selection in the jogging mode to match it to what $POS_ACT says it should be, but nothing has worked so far. I currently don't have any tools configured actually, so I'm using $NULLFRAME. I just want to work with the base + flange frames.
My ultimate goal is to rotate the flange about its y axis in its current position which is level with the ground.
Any help would be appreciated!