Posts by automationig

MOVJ
GETSPX020 $PX000
MOVJ
GETSPX021 $PX000
MOVJ
GETSPX022 $PX000
MFRAME UF#(1) PX020 PX021 PX022

Yeah that only works in relative to a point, I am doing it in a mathematical job but i figured it out thanks...

I am programming a motoman dx dual robot cell R1 is permanently a glue gun, R2 is going to have several change out grippers on it so I am needing to switch TCPS according to the gripper. I have all TCPS taught along with weight, Just need to no how to activate the right TCP