bind tcp to an external rotary axis

RAPID Programming
1

I’m programming an ABB IRB6700 robot with 7 axes that needs to pour aluminum into a shell.

Axis 7 of the robot is a rotary type and moves that cup( And it’s on the robot).

I am looking for an instruction or functions that allow me to make a movement similar to the RelTool. That way I could place my tool in the tip of the cup and move it as it rotates.

I don’t know if I have explained myself correctly…

2

Hi…
If I understand, you could use a stationary tool so you could use RelTool with this tool.
Take a look at this tip:

Good work.