Problem while defining stationary tool

RobotStudio
1

Hello,

I am trying to define a stationary tool in our workshop. I read manual multiple times, try to define tool but i am not succeded. That’s what i have done so far :

First I define a wobj with robhold=TRUE (wobjR1) and a tool (tStat) with robhold=FALSE. Then i select wobjR1 and tStat in jogging window. After that i select tStat tool and define stationary tip with 4 points. I did this procedure multiple times but results are not ok.

1- Could you please tell me which coordinate frame you select when working with stationary tool (World, base, tool or wobj?)
2- I will be very appreciated if someone share a .rspag file which have a stationary tool in it.

Best regards.
Erdem

2

You need to define a tool with robhold true, use it to teach the stationary tool in world coordinates.