[Problem] Home Position with Offset

daguilar

Hi,

First of all, very sorry of my english. So, let's start. I'm simulating a IRB6700 station on the Robot Studio. I taught up all the points in the simulation tab, and simulated and everything runs OK, instead Home Pos, wich is in Wobj0. In the simulation tab, I send the robot to the Home Pos through the "trajectories and procedures" folder. Everything looks OK. Then I synchronyze the station with the offline controller to send all the paremeters and robtargets positions. I start the simulation, and the HomePos is offsetted in Z axis. This is blowing my mind, because I checked the tool, the MoveJ parameters and everything looks OK.

I give you some screenshots.



In this capture, I send manually the Robot to HomePos in the Trajectories folder with the "Show robot in this position".





In this one, is the position that reaches robot whenever I send to HomePos with the TP. And I use this command:

        MoveJ pHome,DISPLACEMENTS_SPEED,fine,ST15RSTool\WObj:=wobj0;

As you can see, the TCP is not going to the pHome position... 

Can anybody give some light above this problem?

Thanks for your time.

betaGuy

Any update?

lemster68

I don't know why you are having that issue but I can suggest a MoveAbsJ for your home position.

Liam

betaGuy said:

Any update?

Hi betaGuy,

If you're experiencing a similar issue that you would like support with, I would recommend to contact your local ABB Support office who will help you, contact details are available at 'https://new.abb.com/contact-centers'.

BR/
Liam