How to move the tool to the desired height

You could do something like this. It reads the current position of the robot, and moves it to a height of -300. Change it depending on your needs.

I'm using Reltool, since I want to not go straight up, but w/ the current orientation.

The For-Loop is just to ensure the height is reached, since the Z-Value isn't exactly the height if the tool is at a slope, and with every iteration it gets closer to reaching the desired height.

    FOR HeightReached FROM 1 TO 5 DO
       !
       pTempHeight:=CRobT(\Tool:=tool0\WObj:=wobj0);
       MoveL Reltool(pTempHeight,0,0,(-300+pTempHeight.trans.z)),v1000,fine,tool0\WObj:=wobj0;
       !
   ENDFOR

k1ng

That won't work too well on a Motoman robot. 😬

You can do this in a macro for moving in T1 or you could add this to a program for running in auto. Make a position register the current position, then change the Z value to your desired height, then move to that position register.

PR[??]=LPOS

PR[??,3]=Desired Height

L PR[??]

Lemster68 Oh, my mistake. Didn't realize which category the thread was in.

Does no one pay attention to the subforum of which robot it is?

Quote from Lemster68

Does no one pay attention to the subforum of which robot it is?

Lemster68

Did you say something?

Quote from TheKetteringKid

You can do this in a macro for moving in T1 or you could add this to a program for running in auto. Make a position register the current position, then change the Z value to your desired height, then move to that position register.

PR[??]=LPOS

PR[??,3]=Desired Height

L PR[??]

This ain’t a Fanuc sub forum. Use the IMOV instruction. Populate manually or set a Position Variable with amount and direction. If you want to move straight with respect to the tool add the TF coordinate tag to the instruction.

If you want to move up 300mm every time, just use an IMOV with a PVAR set to Z 300.
If you want to move up to a set height every time no matter where you are, you will need to read current position to a PVAR, edit Z to equal the new height, then move to that PVAR.

shift on the tool frame.

Just my $0.02

Hello,

if i have this code. and i want the robot move +Z axis 5cm, how the code could be?

/JOB
//NAME HOME
//POS
///NPOS 1,0,0,0,0,0
///TOOL 0
///POSTYPE PULSE
///PULSE
C00000=92160,0,-103424,-206848,0,0,0
//INST
///DATE 2025/02/28 14:59
///COMM Generated using RoboDK
///ATTR SC,RW
///GROUP1 RB1
NOP
'Program generated by RoboDK v
'5.8.0 for Yaskawa SIA10D on 2
'8/02/2025 14:59:52
'Using nominal kinematics.
'Using Posisi 10x10 (targets w
'rt base):
'28.5,561.0,-128.0,0.0,0.0,0.0
'Tool 2 (Tool Snap 2) should b
'e close to:
'132.5,0.0,63.5,90.0,0.0,90.0
MOVJ C00000 VJ=10.00
END

The code depends on if you want to shift all the time or only some times. If you want to shift all the time use the parallel shift utility to shift the line or lines in your program.

how about if i just want to shift some time?

Either manually or programmatically set up a position variable for direction and amount. Use the SFTON and SFTOF instructions.