Good evening, has it happened to any of you that worbj does not move the same in a coordinate example I have it in the coordinate x= 0 and = 0 When I move 1 meter away in y the robot moves to 20 mm creating like a diagonal
Check jogging window. You should have coordinate system: wobj, in WorkObject you should have selected your work object, and in JogMode choose Linear. For more info attach the declaration of the work object and a image of the jogging window.
B.R.
/Jorge
Hi …
Each coordinate system can be configured to move the manipulator in 4 types of coordinate systems (Base, Tool, Work Object, and World). Check which system is currently selected. Generally, the Base and World coordinates coincide; if they do not, the robot’s Base Frame may have been altered. For the others, it will depend on the object and tool frames being properly aligned so that the motion corresponds to the applied direction. Another detail: if you tested the motion using Offs(p1, 0, 100, 0) and the robot moved diagonally, the work object is certainly ‘crooked’. If you used RelTool(p1, 0, 100, 0), the tool itself is ‘crooked’. And if you did not use a specific work object (you are using wobj0), then the Base Frame was likely altered.
Good work.
x=0 and Y? = 0? This would be unimportant to what you think the issue is: what matters is the orientation of the workobject. It ought to be 1,0,0,0 for it to behave as you are expecting.
