RobotStudio event

wobj

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Rickytre91
Rickytre91 ✭
in RobotStudio
I created a program in robot studio with a new work object and it works fine there. When I take the module to see how it runs out on the robot it shifts all my points 45 degrees counter clockwise. EX. first point is suppose to come from the -y direction towards +y but outside on the robot i goes +x, -y to -x,+y(search). Have any suggestions to what might be causing the problem?

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  • graemepaulin
    graemepaulin mod
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    Did you move/rotate the robot in RobotStudio?

    Did you offset/teach the workobject in RobotStudio or leave it at the base of the robot?

  • Rickytre91
    Rickytre91 ✭
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    Teach?
  • DenisFR
    DenisFR ✭✭✭
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    Hello,
    What is your wobj data values?
  • Rickytre91
    Rickytre91 ✭
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    !   TASK PERS wobjdata objectT28c:=[FALSE,FALSE,"STN1",[[1315.13,-0.34228,800.238],[1,0,0,0]],[[0,0,210.51],[1,0,0,0]]];
  • Rickytre91
    Rickytre91 ✭
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    wobj is  going off the user frame centered in x y just need it offset in z 
  • Rickytre91
    Rickytre91 ✭
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  • Rickytre91
    Rickytre91 ✭
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    thats what im trying to weld they vary in size 
  • Rickytre91
    Rickytre91 ✭
    edited March 2019
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    i figured it out, the wobj quaternions that were being created in robotstuidio didnt match what it needed to be on the robot. thanks you 
    Post edited by Rickytre91 on

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