Tool offsets
The following parameters are available for a
tool flanged onto robot axis 6.
List parameters | Meaning |
kinematik[45].param[0] | Tool offset in Z direction of effector |
kinematik[45].param[1] | Tool offset in X direction of effector |
kinematik[45].param[2] | Tool offset in Y direction of effector |
kinematik[45].param[3] | Tool rotation about the X’’ axis |
kinematik[45].param[4] | Tool rotation about the Y’ axis |
kinematik[45].param[5] | Tool rotation about the Z axis |
First rotate and then shift?