shifting all motion points

What is z In this case?

If it is part of base, you could simply move the base...

If you have krc4 or krc5 you can use Workvisual, or you can use Orange edit even if you have older robots like krc1/krc2.

Quote from m.dinio

i want change it realtime

Only possiblity to modify positions in realtime (that is every interpolation cycle of 12 ms or every 4 ms) is by using the RSI package.

Fubini

Of course if you only want to shift target positions w.r.t to the TCP system. Other option would be treating base_data[] like that. Depends whether $BASE or $TOOL needs the shift. That is a difference and you did not state which case you need. Get familiar with the geometric operator ":" might help as well. Plenty of discussions regarding this can be found by using the forum search, e.g.

Thread

Behind the scene - geometric operator

I was looking for the "geometric operator"in this forum and found a lot of problems unsolved.

Maybe this thread will help to get a better understanding.

So, let us start:

robot-forum.com/attachment/37413/

In this first post just some explanations:

T01: $BASE (given) : {X 800.0, Y 0.0, Z 1200.0, A 0.0, B 90.0, C 0.0} -> how to convert?

T12: Pose relative to $BASE (given): {X 300.0, Y 0.0, Z 400, A 0.0, B -90.0, C0.0} -> how to convert?

T02: Pose relative to K0 (needs to be calculated)

The geometric…

MOM

April 15, 2023 at 1:03 AM

Fubini