Orientation question

RobotStudio
1

I am developing a function for a directional tool. My object is to follow a circle path while keeping the directional tool orientation tangent to the circle. I am using Reltool to offset the tool from a center point and changing the Z orientation of the original point. The way I am changing the z orientation is by getting the current value (EulerZYX) then adding 90 to the Z and converting it back (OrientZYX) then normalizing it (NOrient). As i get to 90 degrees on the circle when i tries to move to 180 it rotates the TCP -270 rather then +90. The only way i see this is if i use a singareawrist(if i dont use SingArea it gives me a robot axis confg error) using MoveC functions or MoveL. I have tired doing 45 degree increments and still get the same problem at the same orientation. Is there any way to prevent the tool from changing orientation over 90 degrees.

Thanks,

Austen

2

I located the values that i was changing (+90) and as soon as the Euler value is 360 or over it changes the orientation and goes back to 0 degrees. I know that axis 6 has a possibility by default to go to 400 degrees is there anyway to convert Euler angle over 360 Degrees and not have it default back to 0?

Austen

3

Thanks Jim!

ConfLOff;

fixed the issue!