A contractor installed our robots. I have figured out Allen bradley comms and most of the moves.
We are picking and placing. I made a case switch to do one set of robot moves or the other. Then problems started when we went to go touch up points.
The robot uses the default work area(work 1) and a tool group for a part we pick up and put into a nest.
However the tool has to have quite a bit of rotation about various axis to get the part center point over the nest, That creates a problem because now I cant move directly x or directly Y to set the part in the nest. Since the tooling coordinate is twisted it moves in the twisted x or y direction instead of the one I want.
Is the solution to this, to create a work area? Then I should be able to move in the X-Y-Z plane of that work area instead of the X-Y-Z plane of the tooling point?
Or is the solution to reteach the tooling point to where the object is centered and the Rx,Ry,Rz are 0, 180, or 90?
The idea of a work area coordinate plane and a tool group coordinate plane confuses me. I don't understand how to select one or the other in the robot. I know I can select both but I'm not wrapping my head around which coordinate plane I am in when I have two.