Wobj0

dhoffman

I have problems with targets associated to Wobj0. My Wobj0 seems to be the same as the "world" coordinates no matter of the position of the Robot. Probably I make a simple misstake somewhere.

I created a system with a IRB4400 robot (45kg) and choose "Set position" to translate it about 2 meters in one direction. Every target that is created in the wobj0 has coordinates just as if they were created from the world coordinates. According to my previous knowledge and the helpfile the wobj0 should always be in the base of the robot.

Please help

/Daniel Hoffman

Anders S

Hi Daniel,

Yes you have made a simple misstake

When you move a robot you should not use "set position", you should use "set task frame". Set task frame will you find if you right click on the system in the elements browser. set task frame moves both the robot model and the robots coordinate system (wobj0).