AUX Tool shift question

    hi! every engineers in the world!

    I have an question about tool shifting in Aux function!

    Is it possible to shifting " LMOVE frame+point[1];" this code by using Tool Shift in Aux function?

    or Is Aux shift fucntion just shifting normal(?) block like "LINEAR SPEED1 ACCU1 TIMER0 TOOL3 WORK0 CLAMP1 (OFF,0,0,O) OX= WX= #[-40.977,9.1181,-33.028,50.561,56.102,185.88] ;" ?

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    Flowing wondering

    If 1st question is not possible how can I shift according to Tool cordinate [ LMOVE frame+point[1]; ] this kind of code.

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    thanks for the reading ! hope you guys have happy end of year ! :smiling_face:

  • massula December 18, 2023 at 10:38 AM

    Approved the thread.
    • Best Answer

    Aux function shifting is for BLOCK only as the positions are stored as Joint Angles and the internal macros will produce adjusted Joint Angle results.

    Quote from Sungmin Kim

    how can I shift according to Tool cordinate [ LMOVE frame+point[1]; ] this kind of code.

    TRANS command is used for TCP relative transformation adjustments.

    POINT test = test + TRANS(x,y,z,o,a,t)

    You should read the AS Manual for the differences between SHIFT and TRANS commands.

    These are used for transformation values only.

    Transformations consist of 6 elements XYZOAT.

    Your example will not work.

    It would have to be represented like this to create another transformation and a shift applied to it.

    POINT test2 = SHIFT(test BY 0,0,300).

    - SHIFT is used to add the shift values relative and parallel to the BASE coordinate.

    - SHIFT can only be applied to XYZ elements.

    - TRANS is used to add values relative to the TCP vectors of the taught transformation.

    - TRANS can use XYZOAT.

    - POINT test2 = test + TRANS(0,0,300) is the not the same as POINT test2 = SHIFT(test BY 0,0,300).

    TRANS command is the most powerful and flexible command (IMHO) in the AS command language.

    Not only can you create transformation values with SHIFT and TRANS, but you can also create a motion segment using them too.

    JMOVE SHIFT(test BY 0,0,300).

    LMOVE TRANS (1500,450,300,-90,45,90).

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