Offs and RelTool

Robot Controller
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1

Hello,
Is there a way to use Offs and RelTool together? Let consider for example a pick and place application: before to pick an object I want to go to an over_pick position which is 30 mm over the pick and I can do it using Offs (pick,0,0,30), but I have also to reach the over_pick rotating the tool by 90 degrees (so I would need: RelTool (0,0,0 \Rz := 90). Can I use these 2 simultaneously?
Thank you in advance!

2

You can use them sequentially, probably would be useful to use the CRobT function.

3

Doesn’t RelTool allow for displacement and rotation?

MoveL RelTool (p1, 100, 0, 0 \Rz:= 90), v100, fine, tool1;
4

Or, something like p10:= Offs(pPick,0,0,30) then MoveL Reltool(p10,0,0,0\Rz:=30) etc…

5

The last solution seems good for me, thank you!!!

6

You have to bear in mind that the x, y, z displacement is in the tool coordinate system which rotates with the tool so will not normally line up with the base frame of the robot…

7

I have a similar problem, before I place my target I want to rotate it by a certain amount and move it in an offset relative to my tool. Again, the robot follows the coordinates of the workobject, not the tool, with the relTool command.

8

Hi…
Something similar is being commented here:

https://forums.robotstudio.com/discussion/14050/move-reltool-for-x-and-y-axis#latest