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cianmartincianmartin Posts: 1Unconfirmed Recruit
Hi, 
It's probably a simple question, but I can't figure it out. 
I'm trying to set up the robot whereby an operator manually moves the robot TCP to a position and sets it as waypoint_1. 
Then the program automatically orients the TCP so it is parallel to the base X and Y axis.

My thinking is that I can use the following code:

Pos1 = get_actual_tcp_pose() #records the current position to Pos1
Pos1[4] = rotation needed to get parallel to Base X
Pos1[5] = rotation needed to get parallel to Base Y. 

And then a MoveL to Pos1 brings the TCP into line. 

Firstly I can't see a way to access elements in the array like this, and secondly, I don't know if it's the best approach.

If anyone can tell me what I'm missing here I'd greatly appreciate it.  
 

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