Tool offsets
The following parameters are available for a tool flanged to robot axis 6.
List parameters | Meaning |
trafo[1].param[0] | Tool offset in Z direction of effector |
trafo[1].param[1] | Tool offset in X direction of effector |
trafo[1].param[2] | Tool offset in Y direction of effector |
trafo[1].param[3] | Tool rotation about the X’’ axis |
trafo[1].param[4] | Tool rotation about the Y’ axis |
trafo[1].param[5] | Tool rotation about the Z axis |