kuka robot - Are there more ways to move robot in tool coordination

    Code
    DEF  SET_IPO_MODE (IPO_FRAME :IN )
  DECL IPO_MODE IPO_FRAME
  IF $IPO_MODE==IPO_FRAME THEN
    RETURN 
  ELSE
    $IPO_MODE=IPO_FRAME
  ENDIF
END

    Hi experts !

    when i chang IPO_FRAME.base=IPO_FRAME.Tool. i can run robot in tool coordination (if i don't remember wrong)

    so i want to know that whether there are different ways to move robot in tool coordination or not ?

    plz tell me if you know.

    many thanks

  • Zin1701

    Changed the title of the thread from “kuka robot - Is there more way to move robot in tool coordination” to “kuka robot - Are there more ways to move robot in tool coordination”.

  • Fubini

    Approved the thread.

    What are you looking for? Whats the problem you want to solve? $IPO_MODE tells the robot that it is holding the workpiece and the tool is fixed in the workspace. Technically this is achieved by flipping the meaning of tool and base and inverting $POS_ACT.


    Or are you looking for moving simple shifting positions in the tool system? This can be done with the colon operator e.g.


    Lin xp:Shift ; shift in tool


    or with


    Lin_rel shift #tool


    Fubini

    thanks so much

    but one more stupid question

    Code
    eg1: ptp{A 2}
eg2: ptp_Rel{A 2}

    so i wanna ask both examples above, Robot will rotate at the origin of TCP or not

    if both rotate in TCP and i wanna rotate at the origin of basefram. what should i do ?

    If you want to do the shift relative to the base frame you need to reverse order of the colon operator.

    lin shift:xp ; shift relative to base


    or


    lin_rel xp #base ; #base is default here so if left out shift is relative to base frame


    If you want more options inbetween checkout $ROTSYS


    Fubini

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