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Is it possible to offset all of my moves by 180 degrees on wrist 3 depending on a condition?
/ Most recent by bcastets
Jeff_97 Posts: 4 Apprentice
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).
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])
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.