Move and rotate around tool coordinate system Wobj0

Robot Controller IRC5
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1

Hello,
there is probably an easy fix for this that I have not found yet but is there a way to move in the tool coordinate system in Wobj0?

We are going to scan different surfaces with a 3D camera and get the coordinates from that.
So the tool needs to be aligned with the surface (“Y” and “Z” rotation) and just move in and out in “X” direction , as it is right now in Wobj0 we do not move in the tool coordinate system in “X” direction with “RelTool”.

So how do i solve this?

2

Reltool is in the tool coordinate system. It does not matter which workobject. Maybe you need to change the orient component of your tcp to get the desired effect.

3

My mistake, kind of embarrasing but it is now solved.
Was an offset intead of RelTool haha