Attach with offset does not work with tools other than the wrist

Hi, I have a very peculiar issue. I have found that none of the attach smart components, ABBs or community made, works with offset if any tool is mounted on the robot. 

I press attach with offset set to 100mm with no tool -> object mounts 100mm away from the robot wrist.
I press attach with same offset but now with mounted tool -> object mounts on TCP of tool. 

Is this how it is supposed to work? I have a workaround where the offset is set to the tools size, but that seems bad.

Sign In or Register to comment.

Howdy, Stranger!

It looks like you're new here. If you want to get involved, click one of these buttons!