Sending 'movel' commands, how to change from base coordinate system to tool coordinates?

Hi everyone,

I am sending URScript commands to the robot and all is working fine.

I am currently sending ‘movel’ and ‘speedl’ commands to manually move XYZ, however this is all in the base coordinate system. Is there a way to change it so these commands control the robot in tool coordinate system?

Essentially I want to be able to move relative to the flange, so z is forward, but instead I want movel and speedl move relative to the base so z is up relative to the base.


Try searching “relative moves” in the forum, several topics on this have been discussed, also check out this link Move wrt to Custom Features

This should give you a good starting point, hope this helps and best of luck!

That looks perfect, thank you Michael.