Move around TCP
This is an example of how to make a program that moves around the TCP.
Examples are valid for:
All robot software versions
Note that older or newer software versions may behave differently.
These examples can be used for both CB1, CB2, CB3 and e-Series
This example has a TCP definition: x,y,z,rx,ry,rz = 100, 0, 134, 0, 0, 0
The program moves 90 degrees around the TCP.
The script function d2r() converts from degree to radians. This code is not avalable in all software version and the calculation: (degree/180)*3.14149262 need to be used.
Find more about the function pose_trans() and d2r() in the script manual - see download section.
