Thanks for the response Albert, we got the mechanism set up the next day using the laser. For some reason it rotated 176deg around Z, I don't know how to make it align X to world X other than changing that to zero and making the (other two of RPW) to negatives.
Two other problems I have:
1) we're using the Base=EK{} method, but the robot is rotating its TCP around the rotary axis with the rotary frame, rather than staying stationary and letting the rotary frame rotate (like a lathe). Same behavior as this thread:External axis hijacks references (www.sinclairbody.com)but I'm not importing an APT file, which is where the Auto Comp setting shows up..
2)我不能让车站使用正确的工具! Changing the inputted code to have TOOL=TOOL_DATA[2] just uses tool 1 anyway. I tried the TOOL 2 method (setting the post line to "True") with the same behavior.
Two other problems I have:
1) we're using the Base=EK{} method, but the robot is rotating its TCP around the rotary axis with the rotary frame, rather than staying stationary and letting the rotary frame rotate (like a lathe). Same behavior as this thread:External axis hijacks references (www.sinclairbody.com)but I'm not importing an APT file, which is where the Auto Comp setting shows up..
2)我不能让车站使用正确的工具! Changing the inputted code to have TOOL=TOOL_DATA[2] just uses tool 1 anyway. I tried the TOOL 2 method (setting the post line to "True") with the same behavior.