Python API: a TRF move along +Z goes back into the wrist, not out of the tool

[PCrnjak]

Which product?

PAROL6

Your question

Asked often on Discord; posted here with the answer so it can be found.

With the PAROL6 Python API, a relative move in the tool frame (TRF) along +Z moves the tool towards the robot instead of away from it. The same move written for the commander software goes out of the tool. Which one is right?

What have you tried?

PAROL6 Python API (parol6) 0.9.1.

[PCrnjak]

The commander and the manual are right: tool Z points out of the tool. The Python API's tool frame and flange frame are turned 180 degrees about X, so its Z points back into the wrist and its Y the other way. This is known issue KI-11.

Until it is fixed, use a negative z for "out of the tool" in the Python API:

move_l([0, 0, -20, 0, 0, 0], frame="TRF", rel=True)
set_tcp_offset(0, 0, -120)

Jog slowly in the TRF before you run a TRF move written for the commander.

Details: Reference frames, TRF and the known issues. This answer will be updated when a fix is released.