ABB 0503060880, Applications Manual

Page: 82 / 90

6.3 Functions
6.3.1 OffsToolXYZ - Offsets tool cartesian
Usage
OffsToolXYZ
is a function that requires an instance of
tooldata
and an offset
as
pos data
. The function will return a new
tooldata
value offset in tool
coordinates by the amount specified by the
pos offset
.
Basic examples
CONST pos psMyOffset := [1,2,3];
tMyOffsetTool:=OffsToolXYZ (tMyOriginalTool,psMyOffset);
The tool is offset 1 mm in X, 2 mm in Y, and 3 mm in Z, relative to the tool
coordinates.
Return value
Data type:
tooldata
The new TCP data.
Arguments
OffsToolXYZ (Tool Offset)
Tool
Data type:
tooldata
Original tool.
[Offset]
Data type:
pos
Offset in mm.
Syntax
OffsToolXYZ '('
[ Tool ':=' ] < expression (IN) of tooldata > ','
[ Offset ':=' ] < expression (IN) of pos > ')'
Related information
Described in:
OffsToolPolar - Offsets tool cartesian on page 83 OffsToolPolar
Technical reference manual - RAPID Instructions, Functions and Data
types Definition of
pos
82 Application manual - BullsEye
3HAC050989-001 Revision: C
© Copyright 2004-2018 ABB. All rights reserved.
6 RAPID reference
6.3.1 OffsToolXYZ - Offsets tool cartesian