Reltool

RobotStudio RobotStudio S4
1

Im new… My Rutine::

PROC
Opg5_90()
Set Do9Lampe1;
MoveJ offs (p000, -50, 50, 30), v1000, z50, tool1;
MoveL reltool (p000, -50, 50, 0), v1000, fine, tool1;
MoveL reltool (p000, -175, 120, 0), v1000, fine, tool1;
MoveL reltool (p000, -50, 190, 0), v1000, fine, tool1;
MoveL reltool (p000, -50, 50, 0), v1000, fine, tool1;
MoveJ offs (p000, -50, 50, 30), v1000, fine, tool1; Reset Do9Lampe1; ENDPROC

I used offs instead of reltool before. When reltool is used it changes the points in the Z direction… Only offs to reltool is done… Is it right that reltool need to do this? I didnt even place any z:=90

Im cunfused…

2

reltool operates in the tool coordinate system.

So although you have 0 z it will still probably move in z in the world coordinate system as they are usually not aligned. Offs works in whatever workobject the position is in.