Hi Hwang,
In RobotStudio there is a demo station with a stationary tool in it, so I’ll use that as an example.
So start RS and File>Open station, browse to:
C:Program FilesABB RoboticsStations
Open the rsGlue station.
File>Import>Program
C:Program FilesABB RoboticsPrograms sGlue.prg
Play the simulation once.
As you can see the robot picks upp a ‘cover’ which it then goes to the stationary glue tool with.
So look in the station at the tool and at the wobj, and also at the RAPID code.
OK, so that’s how it should look like, here’s how you do it:
Create a tool at the correct position with robhold=False.
Create a work object, just give it a name and set it as active but don’t change any of the values.
In the Object Browser drag’n’drop the Wobj to the robot.
Now you will get two questions:
Do you also want to reposition WobjName?
Say Yes, this will place the Wobj at tool0 which is exactly where we want it to be.
Do you want Wobj obGlue to be moved by IRB##?
Say Yes, this will make RobHold=True.
Now you are ready to create the targets directly on the workpiece.
:stuck_out_tongue_winking_eye:
You can find the same instructions in the manual:
Create a Stationary Tool
:sunglasses:
PS
Remember that when working with stationary tools stations you need to switch the active tool and workobject to tool0/wobj0 to be able to MoveToHome etc, since that can’t be done in the fixed tcp or the moving wobj.
DS