Tool Rotation

RobotStudio
1

Hey guys I’m wondering if any of you could aid me this is tearing my hair out lol

I’m using a twin sided tool but when the robot switches between the two the arm moves to accomodate, is it possible to only get joint 6 to rotate?

I’m using an IRB140 if thats any help

Thanks

Jackson

2

Hi
Take a look at MoveAbsJ or MoveJ RelTool(…),

3

Thankyou I’ll give it a try