Is it possible to offset all of my moves by 180 degrees on wrist 3 depending on a condition?

Jeff_97

Currently, the UR10 is used to pick up and drop off semiconductor wafers in chemical baths. As it is dropping off, the wafer has to face a certain direction depending on the location of the bath. It doesn't need to be super precise, so I was wondering if there was a way to offset the move's wrist 3 by 180 degrees before it is performed? Or do I have to individually teach each bath twice (one with wrist 3 at 'x' degrees and one with wrist 3 at 'x +- 180 degrees). 

Thank you.

bcastets

@Jeff_97
The easiest may is to rotate the tcp of 180° when you when to rotate wrist 3 joint with the same waypoints.

You can change tcp with the script command: set_tcp(p[0,0,0,0,0,0])

Jeff_97

bcastets said:

@Jeff_97
The easiest may is to rotate the tcp of 180° when you when to rotate wrist 3 joint with the same waypoints.

You can change tcp with the script command: set_tcp(p[0,0,0,0,0,0])

do I have to set the tcp before every waypoint? I have about a hundred waypoints. I'm also not sure if I am doing it right. It seems that rz controls wrist 3 in the cartesian plane. Therefore, I'm using set_tcp(p[0,0,0,0,0,3.14159...]) on a thread but it is not rotating it 180 degrees. Does this script set tcp as 3.14 rads or adds it onto the existing tcp? Thanks

bcastets

@Jeff_97
You just have to set the TCP once. The robot will then move this TCP to the position of next coming waypoints.

The coordinate of the pose used by set_tcp are expressed in flange frame.