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Tool Axis Offset
Adds an additional LIN movement at the beginning and/or at the end of a list of robot movement commands. The LIN movement will be offset along the tool axis, e.g. for approach movements.
Inputs
| Name | ID | Description | Type |
|---|---|---|---|
| KUKA|prc Command | CMDS | 1 KUKA|prc LIN/PTP/CIR/SPL movement commands is required to offset the toolpath along the toolaxis. | CommandData |
| Offset Along Toolaxis | OFFSET | Offset Along Toolaxis | Number |
| Offset Start | START | If enabled offset first point | Boolean |
| Offset End | END | If enabled offset last point | Boolean |
| Offset Speed | OFFSET VEL | (Optional) Provide a list of three speed values in m/sec. The first one defines the speed with which the robot approaches the initial, offset position (Rapid), the second one how fast it moves downwards (Approach) and the third one how fast it lifts off (Retract). If only a single value is provided, it will apply to all fields. If no value is provided, the speed from the previous movement will be selected. | Number |
Outputs
| Name | ID | Description | Type |
|---|---|---|---|
| KUKA|prc Command | CMDS | List of KUKA|prc Commands with offset start and/or end position. | CommandData |
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