Forum Migration Notice
We're transitioning to a more modern community platform by the end of this year. Learn about the upcoming changes and what to expect.

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

AuxiliumD
AuxiliumD ✭
in RobotStudio
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.


Comments

  • FedN
    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
    Nils Olofsson ✭
    Hello,
    I reported this bug to R&D

    —
    Nils Olofsson
    PC Software Support Engineer

  • Nils Olofsson
    Nils Olofsson ✭
    Bug is now under investigation by R&D

    —
    Nils Olofsson
    PC Software Support Engineer

  • Nils Olofsson
    Nils Olofsson ✭
    Bug is fixed in Robotstudio 2020.4

    —
    Nils Olofsson
    PC Software Support Engineer

Categories

In this Discussion