Well, I don’t know where is my mistake, but I have the coordinated workobject (w_SNews03_R2) active on the tool robot and it does not move when I jog the workholding robot. Am I missing something?
In my application the robots are put one in front of the other. Thus, when the workpiece robot moves in +X (workpiece robot base coords) I need the tool robot to folow him moving its arm backwards in -X (tool robot base coords). Unfortunately, that’s not what happens. The tool robot also moves its arm in +X direction.
I tried rotating the tool robot’s object frame coord system (oframe) to see if it understands that the workpiece robot is in front of it, rotated 180A?, but it didn’t work. The tool robot moves and reorients its tool as I change the oframe. The problem is that it seems to move its reoriented TCP as if the workpiece robot was just overlaying it.
So, how sould I program the robots for undestandig that they are mounted like this: 0-- --0?
Sorry for so many doubts, but I have no experience in this Multimove world.