# Offset Lines

• hi Team

KUKA

KRC4

KSS8.6.6

kr2700

Help... I have a program with 50 points and I need to make an Offset at 40 movements in z- (10 mm) , Fanuc has a function called Tool offset and it allows you to do it in the number of lines that you choose, is there something similar in Kuka? or how could I do it?

Regards

Saludos / Best Regards

• Expert programs or inline forms?

In both cases you can in principle use the colon operator : aka geometric operator. How exactly and where to apply it to depends on the above question.

Fubini

• I need to make an Offset at 40 movements in z- (10 mm)

Tool Z or Base Z? Once, as a permanent edit, or is this something you need to do dynamically as part of the program execution?

Tool Z: Point = Point : {X 0,Y 0,Z -10,A 0,B 0,C 0}

Base Z: Point = {X 0,Y 0,Z -10,A 0,B 0,C 0} : Point

Fubini's link dives into the details.

• i mean this is just a example

;********************************

;Project: VW_9102NP

;Robot: RSP030RB02

;Fixture: RSP030TL01

;Process: Spot Welding SP

;Program: SW_RSP030TL01

;********************************

PTP HOME Vel=100 % DEFAULT ;%{PE}

PTP P100 Vel=100 % DEFAULT ;%{PE}

PTP P110 Vel=100 % DEFAULT ;%{PE}

PTP P130 Vel=100 % DEFAULT ;%{PE}

PTP P130 Vel=100 % DEFAULT ;%{PE}

LIN P140 Vel=100 % DEFAULT ;%{PE}

LIN P150 Vel=100 % DEFAULT ;%{PE}

LIN P160 Vel=100 % DEFAULT ;%{PE}

PTP P130 Vel=100 % DEFAULT ;%{PE}

PTP P130 Vel=100 % DEFAULT ;%{PE}

PTP P110 Vel=100 % DEFAULT ;%{PE}

PTP P100 Vel=100 % DEFAULT ;%{PE}

PTP HOME Vel=100 % DEFAULT ;%{PE}

______________________________________

what about if lite to apply an offset in Tool Z- just for the points 140,150,160,

some like a

PTP HOME Vel=100 % DEFAULT ;%{PE}

PTP P100 Vel=100 % DEFAULT ;%{PE}

PTP P110 Vel=100 % DEFAULT ;%{PE}

PTP P130 Vel=100 % DEFAULT ;%{PE}

PTP P130 Vel=100 % DEFAULT ;%{PE}

"Ztool offset -5" apply just for this 3 points

LIN P140 Vel=100 % DEFAULT ;%{PE}

LIN P150 Vel=100 % DEFAULT ;%{PE}

LIN P160 Vel=100 % DEFAULT ;%{PE}

from of this points must to be Normal , without modifications

PTP P130 Vel=100 % DEFAULT ;%{PE}

PTP P130 Vel=100 % DEFAULT ;%{PE}

PTP P110 Vel=100 % DEFAULT ;%{PE}

PTP P100 Vel=100 % DEFAULT ;%{PE}

PTP HOME Vel=100 % DEFAULT ;%{PE}

Saludos / Best Regards

• it looks like you are using inline forms but that is not real code

for ILF based programs you can simply offset base

you may move some or all points using either transform options on the smartPad or with OrangeEdit.

check programming manual for system intergrator.

2) if you have an issue with robot, post question in the correct forum section... do NOT contact me directly