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Attach a Frame to the Joint 1 of a robot


Can you help me please ? In my cell, I have a robot FANUC.
Is it possible to have the coordinates of a target point in the "J1" frame of the FANUC robot, instead of the "BASE" frame ?

Please, see below a picture for example.

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It is not possible to attach a target to the moving reference of the joint 1 of a robot. However, you can create a new coordinate system at a specific location (attached to the robot base), and add targets to that location.

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