Messages

Hi there!
This problem has confused me for a long time. When the ToolABC are all 0, I suppose the XYZaxis of tcp should be the same as the flange system according to the difinition of TOOL cordinate system. But as the image shows, it's the same as rhino XYZ axis.

Thank you Johannes! Your suggestion was really helpful， and I understand it completely.
Now I have another question that confuse me.
I suppose that the "initial posuture" option in the advanced settings changes the movement to the first point , then what do those numbers (0 and 1) mean? and what is the difference between different options? I would appreciate it if you could help me with my new question.

Thank you Johannes! I notice that if I set the base, then the robot will move. Does the initial origin where the robot were become the origin in base system，that's to say, the place where the robot was originally placed becomes the workspace?

Hi there!
Are the movement instructions in the final src file the instructions of tcp in the world coordinate system? I have set the base coordinate system. How can I export the movement instructions of tcp relative to the base coordinate system?