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 Rotate about an axis |
Posted by martini on: 13/Jun/2010 01:36 AM
Hi...
I am new to rapid..so i m doing very basic programming right now.
what i want to do is..go to robtarget A with trivial orientation (no
orientation)
then go to robtarget B (which has some orientation)
So now imagine the joint 6 of manipulator is not horizontal but at some
angle..
So now what i want to do is..give some rotation around the z axis of the
wrist coordinate....
How do i do that...
(Think about it as, i just want to jog joint 6...in that orientated position)
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| Re: Rotate about an axis |
Posted by faqs on: 9/Jul/2010 09:58 AM
Hi Martini,
One way is to use the MoveL using the reltool function.
MoveL
RelTool(pTo_Pos1,0,0,0Rx:=0Ry:=0Rz:=0),v100,fine,tool0WObj:=ob1;
this allow you to put a value in Rz that will rotate around the Z
Plane.
If you want to create a numerical register for example nMyRzValue ,You can
use the numerical register to control the Rz value.
MoveL
RelTool(pTo_Pos1,0,0,0Rx:=0Ry:=0Rz:=nMyRzValue),v100,fine,tool0WObj:=ob1;
Hope this helps
Kind regards
Steve
Robotknowledge Team
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