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

AuxiliumD

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.

FedN

Hi everyone,

I actually met the same problem that AuxiliumD did.

I am using an Attacher Smart Component to attach an object to a tool with the Mount option as True.
The Parent is the tool, the Flange is the tool's TCP, the Child is the object I want to attach.
When the attach occurs, the Local Origin of the object will coincide exactly with the tool's TCP, whether the X,Y,Z Offsets are equal to 0 or not.

I cannot understand if there is some kind of bug or if I am missing something.

Could anyone help please?

Thank you in advance

Nils Olofsson

Hello,

I reported this bug to R&D

Nils Olofsson

Bug is now under investigation by R&D

Nils Olofsson

Bug is fixed in Robotstudio 2020.4