Moving a robot based on new user work object

yu1988

hi eveybody, now i currently doing a offset calculation of pallets which are arranged in a array order. (one row)
i have 4 pallet on a row.
1. create a new work object (wobj1) of pallet (x1,x2,y1) (based on wobj0 and using right hand rule). x1,x2 are point located on 1st pallet. while y1 is a point located on last pallet on a row. (because i want the distance cover the whole row)
2. verify x1,x2,y1 's position is accurate as possible.
3. choose wobj1. move robot from 1st pallet to last pallet in y-direction. 
4. Result: the robot shift a little bit in x-direction.
Does anybody have better idea or understanding about work object?

graemepaulin

You can rotate the workobject around the z- axis to remove the error.
Most easily done via RobotStudio done via R

DenisFR

Hello,

It's because Y point is on XY plan but not at X=0. So for your case you have to invert X and Y axes to calculate it. Then rotate it of 90° on Z and 180 on X.

lemster68

You can ensure that that X is not caused by accidental deflection of the joystick by using the joystick lock for X direction.

DenisFR

@lemster68 : if his first container is not really orthogonal this make this error.

lemster68

The other thing that you could do to verify is to make move instructions from 0,0, maybe plus just a little Z, to 0, 500 (or 1000 or whatever) in the workobject coordinate system.