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

Technical Questions URScript
1

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.

Cheers
Chris

2

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!

3

That looks perfect, thank you Michael.