Hello,
I'm playing with offsetting a user tool frame and I'm having trouble getting it to work correctly. It is on M-10iA/12 robot with a R30ib controller. It is a sealant dispensing application that has disposable nozzles that vary in straightness. I plan on using a laser sensor to run an automated TCP calibration when this nozzle gets changed out. The EOAT is offset 45 degrees from the faceplate. I'm only wanting to apply the offsets in the X, Y, and Z coordinates of the user tool. The problem I'm running into is when I apply an offset to the user tool "X". It will not take into account my tool orientation in the user tool and only travels in the X coordinate in relation to the face plate that is, as I said, 45 degrees offset from the TCP. I hope that makes sense. The same is true in regards to adjusting my Z. If I apply an offset to Z, it moves my TCP in relation to my faceplate and not the tool orientation. I've attached some screen shots to better illustrate what I'm seeing.