Move with Offset

[m.hammerton]

cg1,

@cg1

You can do the exact same things for the planes.
AKA if you can “copy paste” an offset node it should be complety posible to resuse the plane with a similar offset.

Can you explain further
How can you apply a plane as an offset to another plane?

I tried
creating a plane (Stn1 X300, Y300, Z0, Rx0, Ry0, Rz0)
creating a second plane (Offset X0, Y0, Z100, Rx0, Ry0, Rz0)

and taught a position waypoint_1 to X0, Y0, Z0, Rx0, Ry0, Rz0 of Sn1 Plane

then nested within the move added an additional Move again with waypoint_1 but set the feature this time to Offset plane

As expected the robot wants to move the tool to the middle of the base axis +100mm which it cant achieve!

[m.hammerton]

@jjbe

I know it might be scary for non-scripters but for now, a script oneliner which I believe does what you want looks something like this for e-series:

movel(pose_trans(Waypoint_1_p, p[0,0,0.1,0,0,0]))

I don’t know if it helps you?

Just to elaborate on this answer if you want to offset the TCP position (when using a plane) you need to add a little bit extra into the script line

e.g.
movel (pose_trans(Plane_1,(pose_trans(Waypoint_1_p,(Offset))))

the other problem is there is no Move Here button to check your position before running.
(Just cross your fingers and hope!!)

can you see why this might be a bit daunting for someone who has never done any script writing before?