Moving a robot based on new user work object

Robot Controller
1

hi eveybody, now i currently doing a offset calculation of pallets which are arranged in a array order. (one row)
i have 4 pallet on a row.

  1. create a new work object (wobj1) of pallet (x1,x2,y1) (based on wobj0 and using right hand rule). x1,x2 are point located on 1st pallet. while y1 is a point located on last pallet on a row. (because i want the distance cover the whole row)
  2. verify x1,x2,y1 's position is accurate as possible.
  3. choose wobj1. move robot from 1st pallet to last pallet in y-direction.
  4. Result: the robot shift a little bit in x-direction.
    Does anybody have better idea or understanding about work object?
    image.jpg
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2

You can rotate the workobject around the z- axis to remove the error.
Most easily done via RobotStudio done via R

3

Hello,
It’s because Y point is on XY plan but not at X=0. So for your case you have to invert X and Y axes to calculate it. Then rotate it of 90° on Z and 180 on X.

4

You can ensure that that X is not caused by accidental deflection of the joystick by using the joystick lock for X direction.

5

@lemster68 : if his first container is not really orthogonal this make this error.

6

The other thing that you could do to verify is to make move instructions from 0,0, maybe plus just a little Z, to 0, 500 (or 1000 or whatever) in the workobject coordinate system.