Thank you roboprof for your reply. Im still bit confused how cnvrt actually works.
So in theory I need to get user frame origin in pvar, convert it to tool coordinates and then same thing for tool frame with zero values, so it will be on flange and then offset of these will be coordinates for new tool frame?
I'm working with vision system and I need to modify tool frame when I measure offset.
I have user frame and tool frame set in the center point of my camera and I need to shift the tool frame when the part is offset to get correct rotation angle for SHIFTON TL.
How can I calculate correct coordinates for tool frame so it will be same as the user frame based on robot current position?
Yrc1000
We have gettool and settool commands available. I am able to get the useframe origin in pvar, but can't figure out how to convert it.
Thank you for all the help!
Hi,
I'm trying to figure out how to write variables in to text file and I'm really struggling to figure out right way to do it. I have read the CREAD/CWRITE manual and searched related topics from here, but many of the examples are gone and i'm useless with kuka syntax manuals.
I would appreciate if someone could give me example how do I write 2 INT and one REAL variable with timestamps in to one text file.
Kss 8.3.34
INT V=1000
INT V2=2000
REAL V3=10500.80000
Thanks!
