Well here is my case:
Over a year ago i made a robotcell (one robot). I only have the original cell as i made it before it was actually teached to the robot. So there are some differences between my cell and the one on the work floor.
Now the customer who uses the cell wants the robot to do a new weld. So i asked him to make a backup from the robot and send it to me so i have an updated version (teached). To use this i loaded the programs from the backup to my old cell so i would have all fixtures etc.. Now i noticed that all paths where slightly off the wobj, properly due to the robot and wobj not standing on the exact position as was planned. To make my new weld spot-on, i need to re-position the robot or wobj so my robottargets are back (or at least really close) on the wobj. This way my new paths and targets will be on the correct position.
So my question is: How do i calculate the difference between these two cells?
As an answer i would need something like: turn W:2deg and move X:4mm, or anything like that.
Any help is appreciated as always of course.