Best Answers

• matthewd92 Posts: 961 Handy

  February 2017 edited February 2017 Accepted Answer

  @wileydavis
  
  You can do this a couple of ways, create a variable and then use this as a waypoint or just use script to do the move. 
  
  

  newWaypoint = pose_trans(Tool,p[0,0,.0254,0,0,0]) 
  Movel
    newWaypoint
  

  The pose trans function is transposing the current tool position by using the Tool pose, you can't type that you'd have to select it from the pose drop down menu. If you want to type it it would be something like this 
  
  

  newWaypoint = pose_trans(get_actual_tcp_pose(),p[0,0,.0254,0,0,0]) 

  If you want to do it all programmatically then it would simply become something like this
  
  

  movel(pose_trans(get_actual_tcp_pose(),p[0,0,.0254,0,0,0]),a=1.2,v=.25)

  Where a and v are the acceleration and velocity in m/s/s and m/s respectively. 
  
  
  The the other way which I use occasionally is to use a relative waypoint. I don't like the control that this gives you or rather lack in my opinion but it's relatively easy to set up and builds this command behind the scenes for you

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• BeachChE Posts: 19 Handy

  February 2017 Accepted Answer

  Wiley,
  
  You have to set up the moves in a order of:
  
           MoveJ

             HLPU_01 - Prep move standard move (move just before your "1"

           MoveL  (MUST BE MOVE L)
  

             new_pos_1 (set by variable) your "1"

             HLUP_02 (relative move) (first set point = to your "1", second set point = your move in Z
  

             HLPU_03 (relative move) if you need a second move, such as first set point = second set point in above move, then second set point in this move = where you would like to go.
  

           MoveJ

             HLPU_04 (Standard move)
  
  Then the vaviable move and relative moves have to happen under a linear move "MoveL"
  
  You can do gripper commands or other commands under the MoveL statement.
  

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• matthewd92 Posts: 961 Handy

  February 2017 Accepted Answer

  @wileydavis
  1.  I believe coordinates are always in meters, I think polyscope is just doing a conversion for display. If you used the backup magic file and pulled the programs off the robot you could then open the .script file of your program and see what your program is being converted to. This is also a great way to learn how the polyscope commands are being converted to URScript at compile time. 
  
  2. You teach it with a known point but it's relative to the point that proceeds it so if that point is varying then the relative will still do the same move relative to where it started. 
  
  3.  I don't use pose_add very often but in this case you shouldn't see any difference. What you can do is do a pose add and and pose trans to to two different variables using the same parameters and see what the calculated poses are. That will help you understand what the difference is. We are a lot of times transposing a feature to base coordinates so we need to do pose trans. 

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