wobj

Rickytre91

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?

graemepaulin

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

Teach?

DenisFR

Hello,

What is your wobj data values?

Rickytre91

!   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

wobj is  going off the user frame centered in x y just need it offset in z 

Rickytre91

Rickytre91

thats what im trying to weld they vary in size 

Rickytre91

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