Trajectories in new workobjects doesn´t work

HM

Hi all,

IA'm trying to create trajectories which targets are referenced to a new workobject created by me. I follow the next steps:

1. Create the new workobject in the desired position.

2. Program targets referenced to this new object.

3. Create a new trajectory.

4. Drag the targets into the new trajectory. The Move instructions are created.

5. Synchronize the trajectory with VC.

Once I have this I run it and the robot start to move but in a complete non-sense trajectory, even colliding with its base. The thing is that if I drag the targets to the wobj0 ( without repositioning them ) and create the trajectory draging this targets the robot works perfect, so I guess the problem is in my workobject. Any idea is welcome.

Thanks in advance,

HM

HM

Hi,

I think I know why it fails. My system comes from a real robot, a IRB4600 with an external axis (MTD 2000). When I open the station, RobotStudio tells me that the coordinate base definition for the external axis doesnA't match VC. If I answer yes to update the coordinate base, the external axis move to a wrong position, so I move the the MTD to its real position. Output throws me a warning: "Coordinate Base changed in station: You must update the coordinate base in controller and restart the controller." So I guess I donA't update the controller properly, because each time I start the program the warning is thrown.

How can I update the controller to match the designed enviroment?

Thanks!

Henrik Berlin

Open "System Configuration" window. There you can compare the station values of the base frame with the controller value. The controller must be restarted to update its values. Consult the RobotStudio operating manual for more information.

Whenever you get the question about base frame mismatch you should answer Yes to update the station enviroment to that of the controller, unless you have a good reason for not doing it. It is important to keep the RobotStudio frames and the controller frames in sync.

How did you create your system? Through Go Offline or System from backup, or some other way?