12-07-2020, 04:45 PM
Hi Jeremy,
I have been testing today and the lineair movement now is very close in right area (+/-30cm), so i think that the reference frame is ok. But the rotation and coordinates of the TCP are not right.
I have to stop the robot's movement because it collides so I don't know the end position.
What i have done:
In Menu -> Options -> Drivers i have checked "Provide Cartesian coordinates with respect to reference frame" and "Provide Cartesian coordinates with respect to the flange".
In the driver Robotsync35.src i have changed the $BASE and $TOOL variable.
I have been testing today and the lineair movement now is very close in right area (+/-30cm), so i think that the reference frame is ok. But the rotation and coordinates of the TCP are not right.
I have to stop the robot's movement because it collides so I don't know the end position.
What i have done:
In Menu -> Options -> Drivers i have checked "Provide Cartesian coordinates with respect to reference frame" and "Provide Cartesian coordinates with respect to the flange".
In the driver Robotsync35.src i have changed the $BASE and $TOOL variable.
Quote: $BASE = BASE_DATA[1]
$TOOL = TOOL_DATA[1]