Hi all,
I start a new topic based on this old one: https://forum.robotsinarchitecture.org/index.php/topic,401.msg1133.html#msg1133
because at that time KUKA PRC did not have the option of using Z as tool axis
until now I have used X as a tooling axis, and I have very precise tool calibration values we have achieved in the last months
tool axis are oriented as per this image:
I would like them to be oriented like in $World, which requires a rotation around B by -90 degrees
A= 0.16 does not change
B= -49.945 becomes -139.945
c= 0.411 does not change
after using these values in KUKAprc (and chosing Z as tooling axis) the tool does not look straight anymore, it looks like the Z axis is slightly in an angle
I think I am not doing it the right way, could plase someone enlighten me on the right procedure to follow?
Thanks!
I start a new topic based on this old one: https://forum.robotsinarchitecture.org/index.php/topic,401.msg1133.html#msg1133
because at that time KUKA PRC did not have the option of using Z as tool axis
until now I have used X as a tooling axis, and I have very precise tool calibration values we have achieved in the last months
tool axis are oriented as per this image:
I would like them to be oriented like in $World, which requires a rotation around B by -90 degrees
A= 0.16 does not change
B= -49.945 becomes -139.945
c= 0.411 does not change
after using these values in KUKAprc (and chosing Z as tooling axis) the tool does not look straight anymore, it looks like the Z axis is slightly in an angle
I think I am not doing it the right way, could plase someone enlighten me on the right procedure to follow?
Thanks!