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
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? Thanksbcastets 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])
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.