I'm working with vision system and I need to modify tool frame when I measure offset.
I have user frame and tool frame set in the center point of my camera and I need to shift the tool frame when the part is offset to get correct rotation angle for SHIFTON TL.
How can I calculate correct coordinates for tool frame so it will be same as the user frame based on robot current position?
We have gettool and settool commands available. I am able to get the useframe origin in pvar, but can't figure out how to convert it.