Linear Motion Issue

JacobKang Taiwan

I set a wobj coordinate at the center of the external positioner. Then I used linear mode to move the robot at this wobj. However, I have a motion issue in the x-axis direction of the wobj. There is a different path between the +x-direction and -x-direction. The z-direction of TCP moves -0.4mm in the +x-direction compared with the -x-direction. Besides, the pendant can't see this movement. How can I compensate for this issue? Help me.....

I recorded a video given below link:

The robot's model is IRB 6700 200/2.6


  • DenisFR
    DenisFR FRANCE ✭✭✭
    Can you share your code so we can investigate on it?
    Only needs the movement part with all variables values.

    Do you have absolute accuracy option?
  • lemster68
    lemster68 United States ✭✭✭
    Are your calibration offsets correct?  Is the robot level?  And the Table?  How did you set this workobject?  By teaching?  Is your TCP super perfect?
    Lee Justice