Change the TCP Position in Rapid

Robot Controller
1

Hy there,
I want to write a Programm for a Spraying Process. One of the Spraying parameters is the distance to the workobjekt. Is it possible to change the TCP Position from the spraying gun, perhaps with a variable in the Rapid code? Or is there any other way to do this? The reason for this is that it is necessary to change the spraying distance a few times for the same path. So with a variable in the Code I could change the distance directly online.

Thanks guys

2

you can edit the tool in rapid to acheive this.

or possibly create multiple tools and switch between them.

3

You could try something like this:

Tool_temp:=Tool_spray;
FOR i FROM 10 TO 30 STEP 10
tool_temp.trans.z:=tool_temp.trans.z+i;
MoveL p10, v1000, z10, tool_temp;

MoveL p20, v1000, z10, tool_temp;
ENDFOR