0x0604 - SetToolOffset
Description
This message specifies the coordinates of the end-effector tool point (End Effector Pose) in terms of the End Effector Coordinate System. For a six-axis robot, this coordinate system is defined by having its origin located at the intersection of the S6 joint axis vector and the user defined link vector a67. The Z axis of the coordinate system is along S6 and the X axis is along the a67 vector.
Structure
SetToolOffsetToolPointRec
ToolPointRec
Type: Record
| Field # | Field Name | Type | Units | Optional | Interpretation |
|---|---|---|---|---|---|
| 1 | ToolPointCoordinateX | uint32 | meter | false | |
| 2 | ToolPointCoordinateY | uint32 | meter | false | |
| 3 | ToolPointCoordinateZ | uint32 | meter | false |