So here is the code below, I define a frame and set it in UF:1, and then I am trying to rotate about Y and Z. However, I am getting rotation about X and Z instead, if I change the orientation of the frame I get rotation about Y and Z.
The rotation is supposed to take place at the TCP point, which is recorded in P[1]
Code
/MN
1: UTOOL_NUM=10 ;
2: UFRAME_NUM=1 ;
3: PR[1,5]=0 ;
4: PR[1,6]=0 ;
5:L P[1] 1000mm/sec FINE ;
6: PR[1,5]=(-35) ;
7:L P[1] 1000mm/sec FINE Offset,PR[1] ;
8: PR[1,5]=35 ;
9:L P[1] 1000mm/sec FINE Offset,PR[1] ;
10:L P[1] 1000mm/sec FINE ;
11: PR[1,5]=0 ;
12: PR[1,6]=35 ;
13:L P[1] 1000mm/sec FINE Offset,PR[1] ;
14: PR[1,6]=(-35) ;
15:L P[1] 1000mm/sec FINE Offset,PR[1] ;
16:L P[1] 1000mm/sec FINE ;
17: PR[1,5]=0 ;
18: PR[1,6]=0 ;
/POS
P[1]{
GP1:
UF : 1, UT : 10,
J1= 14.828623 deg, J2= 7.152353 deg, J3= -29.061642 deg,
J4= -53.349148 deg, J5= -58.607075 deg, J6= 102.550850 deg
};
/END
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