Targets doesn't follow its reference coordinate

Xirui_LIU

Hi guys,
    I am new to RobotStudio. I have a little problem with the targets. I have a workpiece that amounted  on a positioner and I set the UCS frame on the axis of positioner. Then, I created several targets with reference to my UCS frame. But when I jog the positioner (my UCS is rotating), the targets don't move with respect to UCS. Does anyone know how to solve this problem? 
Sincerely,
Xirui 

lemster68

You would have to specify that the workobject is moved by the mechanism.  In your MOC under the mechanical unit it should say "allow_move_of_user_frame" and in the workobject definition it should have the name of the mechanical unit.

Xirui_LIU

lemster68 said:

You would have to specify that the workobject is moved by the mechanism.  In your MOC under the mechanical unit it should say "allow_move_of_user_frame" and in the workobject definition it should have the name of the mechanical unit.

Thank you for your reply. What is MOC? I didn't find "allow_move_of_user_frame". 
Forgive me for asking these stupid questions. Thank you again and looking forward to your reply. 

lemster68

MOC.cfg is your motion configuration file, it is found in syspar in a backup.  But you can use the pendant, control panel, configuration, type=motion find mechanical unit and find allow move of user frame, need to set to YES

Johannes Weiman

In the offline/3D case, you must create a Workobject that is moved by the positioner. Then create the targets in that workobject.

Xirui_LIU

Johannes Weiman said:

In the offline/3D case, you must create a Workobject that is moved by the positioner. Then create the targets in that workobject.

Thank you for you answer. In my case, I create a positoner mechanism by myself, but not a positioner in ABB library. When I try to create a workobject, there is nothing in the drop down box of "Moved by mechanical unit". Is this because I use a self-created positioner?

lemster68

Did you do the other step with your MOC?  Allow move of user frame.

Xirui_LIU

lemster68 said:

Did you do the other step with your MOC?  Allow move of user frame.

No, because I am using a self-created positioner, I cannot create a robot system from current layout. Thus, in my backup folder, there isn't subfolder that contains syspar.
Thank you very much anyway. Your comment helps me learn many new things.