On an older robot system I’ve worked with (still IRC5 but Robot Ware 5.13.02) someone wrote a program to update the Work Object.
I used the same script on a new robot we have that has Robot Ware 6.07. When I run through those steps it changes how the work object is displayed and my points changed considerably. See notes below.
Work Object Data prior to Updating Script
PERS wobjdata wobj_R3_WL_LHD:=[FALSE,TRUE,"",[[0,0,0],[1,0,0,0]],[[339.029,-535.441,1674.74],[0.0295868,-0.696639,-0.714709,0.0548686]]];
Script to Update the work object (not sure what Origin=3 means)
poseUpdate_R3_WL_LHD:=DefFrame(pPos_X1_R3_WL_LHD,pPos_X2_R3_WL_LHD,pPos_Y1_R3_WL_LHD\Origin:=3);
Wobj_R3_WL_LHD.uframe:=poseUpdate_R3_WL_LHD;
Work Object Data after Update Script
PERS wobjdata wobj_R3_WL_LHD:=[FALSE,TRUE,"",[[339.602,-535.121,1693.12],[0.0295224,-0.696099,-0.715246,0.0547515]],[[339.029,-535.441,1674.74],[0.0295868,-0.696639,-0.714709,0.0548686]]];
Do I have a syntax error or should I use a different variable?
I’ve been in contact with ABB, the tech I’ve been working with is going to ask someone else there for guidance.
Thank you.