# Tool_Offset (FANUC) which is the equivalent to KUKA?

• Hi everyone, i like know what is the instruction equivalent to Tool_Offset the Fanuc for KUKA

Thanks colleagues!

• Im not sure for older versions of KSS but at least for KSS 8.7,

Base Offset:

LIN XP1:{X 0,Y 0,Z 0}

Tool Offset:

LIN {X 0,Y 0,Z 0}:XP1

There are plenty of posts on the forum discussing this along with how to use a combination of different offsets in a single move.

• The variable of type Frame could be your friend.

For example declaration:

DECL FRAME fTool_Offset = {X 0,Y 0,Z -100,A 0,B 0,C 0}

Motion:

PTP pYourPosition : fTool_Offset

LIN pYourPosition

• There's no Offset command in KRL. Instead, you can command a motion to the result of a point calculation. So:

TempPoint = P1 : {X 0,Y 0,Z 10,A 0,B 0,C 0}

PTP TempPoint

would have the same result as:

PTP P1 : {X 0,Y 0,Z 10,A 0,B 0,C 0}

The ':' is the Geometric Operator, which you can find many posts about in the Forum archives. But very briefly:

P1 : {X 0,Y 0,Z 10,A 0,B 0,C 0} is a shift of 10mm along the Tool Z-axis.

{X 0,Y 0,Z 10,A 0,B 0,C 0} : P1 is a shift along the Base Z axis.

• The problem is that, i don't want to overwrite the point, i want that this point to move knowing that he have other point that must that have in account.

• The problem is that, i don't want to overwrite the point, i want that this point to move knowing that he have other point that must that have in account.

You don't have to overwrite the point. In my examples, there was either a Temporary Point that was written to be an offset copy of P1, or the move command moved to an offset of P1 without rewriting P1.