the tool coordinate system of a 6 DOF robot

chuchengbing wrote: what I should do to deal with this question is to set the tool table correctly, using the command "G10 L1" and so on, right?

You can also use the tool table editor.

With complex kinematics you probably can't use the tool touch-off buttons.

Hello andypugh
Thank you very much. I am so grateful that you help a student new with Linuxcnc like me,
this question about the tool system is handled. I am not a intelligent boy and maybe there are some more questions to be asked by me.
thank you all.

Sorry for disturbing you again!
It is also the tool question. I edit the tool lable following the manual. but in real movement, I found that the tool list in tool table just keep unchanging. because I use the genserkins, it just has 6 joint, when I set the tool table, I found that it didn't calculate using parameters in tool table and just made a subtraction and it is not correct, I don't know how to set the tool coordinate system which make the reference point to be the tip of tools. Thanks..

Does motion.tooloffset.z change when you change tools? is that pin going into the kinematics?

Have you remembered that you need a G43 command to apply the tool offset from the tool table?

Hello,yes, I have a G43 in my Gcode. I edit the tool table when set the tool in which the xyz is the position of the tip of tool and abc is just the tool's posture. and when first run a code, I use a command "M61 Q1"， which means the current tool is tool1 and read the parameters of this tool. It is correct when I don't change my tool posture(just run in a plane), when I run a gcode using A_ B_C_,it becomes wrong. The reason is parameters in tool table is just used to a offect, not used in forward and inverse kinematics computing of robot. When I run a gcode and want to change to posture, the reference point is also the sixth joint of robot,the position and posture is keeped correct, then the LInuxcnc use the xyzabc value of sixth joint minus the xyzabc values in tool table and let this new xyzabc become the tip of tool. It is wrong, I don't know if you really understand , but also thanks!!!!!!

Hmm, yes, G43 will offset the tool tip position in cartesian space.

A workaround might be to put the tool length in the W axis of the tool table and leave XYZ set to zero.
Then pass that number into your kinematics setup from HAL.

I think that the tool tip offset needs to be handled in the kinematics.