Followup to external axis offset problem.

    Foranyone curious as to how my difference between two offsets on an external axis worked out heres a clip to watch.

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    the code running looks like this:

    !points for the axis offset search
    VAR robtarget posrotateL:=[[416.06,-386.45,74.48],[0.327233,0.028379,0.015076,-0.944398],[-1,-1,1,0],[0.000962433,9E+09,9E+09,9E+09,9E+09,9E+09]];
    VAR robtarget posrotateR:=[[416.06,-386.45,74.48],[0.327233,0.028379,0.015076,-0.944398],[-1,-1,1,0],[0.000962433,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget topointR:=[[225.9,762.02,317.87],[0.44038,0.566481,-0.541874,0.43765],[0,-1,-1,0],[110,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget topointL:=[[225.81,723.75,317.66],[0.478916,0.514777,-0.591305,0.394971],[0,-1,-1,0],[-20,9E+09,9E+09,9E+09,9E+09,9E+09]];
    PERS extjoint jointposdiff:=[-0.675865,9E+09,9E+09,9E+09,9E+09,9E+09];
    CONST robtarget Zset1nom:=[[229.66,779.4,285.75],[0.09581,0.369907,0.921339,-0.071583],[0,-1,0,0],[0.0473112,9E+09,9E+09,9E+09,9E+09,9E+09]];
    CONST robtarget Zsettoopt1:=[[229.53,630,310],[0.095713,0.369881,0.92134,-0.071823],[0,-1,0,0],[0.0467033,9E+09,9E+09,9E+09,9E+09,9E+09]];
    PERS robtarget zset1:=[[229.554,781.029,285.467],[0.095746,0.369924,0.921324,-0.0717741],[0,-1,0,0],[0.0472099,9E+09,9E+09,9E+09,9E+09,9E+09]];
    PERS tooldata torch:=[TRUE,[[-40.21,2.86,472.9],[0.284403,0.002551,-0.958663,0.008598]],[5,[85,0,65],[1,0,0,0],0.01,0.01,0.01]];
    VAR num eaxAright;
    VAR num eaxAleft;
    VAR num eaxdiff;

    PROC ExtAxisOffs1()
    ActUnit M7C1B2;
    top:
    EOffsOff;
    PDispOff;
    SetDO doFrTouchSense,0;
    PulseDO\PLength:=0.3,doFrFeedFwd;
    MoveJ [[295.49,800.79,596.26],[0.440504,0.566534,-0.541763,0.437594],[0,-1,-1,0],[0.0465514,9E+09,9E+09,9E+09,9E+09,9E+09]],v300,z5,torchwchanger\WObj:=positioner1;
    PDispOn\ExeP:=zset1,Zset1nom,torchwchanger\WObj:=positioner1;
    !MoveL to start point
    MoveL [[225.87,762.04,317.86],[0.440387,0.566489,-0.541886,0.437618],[0,-1,-1,0],[60.1326,9E+09,9E+09,9E+09,9E+09,9E+09]],v200,fine,torchwchanger\WObj:=positioner1;
    !Search to the Right
    SetDO doFrTouchSense,1;
    SearchL\SStop,diFrArcEst,posrotateR,topointR,speed2,torchwchanger\WObj:=positioner1;
    WaitTime 0.2;
    !extract ext axis angle to variable
    eaxAright:=posrotateR.extax.eax_a;
    !MoveL to start point number 2
    MoveL [[225.87,762.04,317.86],[0.440387,0.566489,-0.541886,0.437618],[0,-1,-1,0],[60.1326,9E+09,9E+09,9E+09,9E+09,9E+09]],v200,z5,torchwchanger\WObj:=positioner1;
    MoveL [[225.81,723.73,317.67],[0.478934,0.514795,-0.591266,0.394984],[0,-1,-1,0],[60,9E+09,9E+09,9E+09,9E+09,9E+09]],v200,fine,torchwchanger\WObj:=positioner1;
    !Search to the left
    SearchL\SStop,diFrArcEst,posrotateL,topointL,speed2,torchwchanger\WObj:=positioner1;
    WaitTime 0.2;
    !extract ext axis angle to variable
    eaxAleft:=posrotateL.extax.eax_a;
    eaxdiff:=(eaxAright+eaxAleft)/2-60;
    !in case offset is backwards add in this
    !eaxdiff:=eaxdiff * -1;
    jointposdiff.eax_a:=eaxdiff;
    EOffsSet jointposdiff;
    WaitTime 0.5;
    SetDO doFrTouchSense,0;
    !Move to eaxct center between blades for good luck
    MoveL [[225.72,806.43,358.14],[0.250125,0.672964,-0.647797,0.254786],[-1,-1,-1,0],[60.0025,0,0,0,0,0]],v200,fine,torchwchanger\WObj:=positioner1;
    Break;
    RETURN;
    MoveL topointL,v300,fine,torchwchanger\WObj:=positioner1;
    MoveL topointR,v300,fine,torchwchanger\WObj:=positioner1;
    MoveAbsJ [[0,0,0,0,0,0],[0,9E+09,9E+09,9E+09,9E+09,9E+09]]\NoEOffs,v200,fine,torchwchanger\WObj:=positioner1;
    ENDPROC

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