Staubli robot CS8 frame issue


    Using Staubli robot with their AOIs for Allen Bradley PLC. Sample program they supplied demos only a couple of the motion AOIs. Descriptions are minimal.


    One of my stations is mounted at 45 degrees. I taught a frame and taught points in that frame. The robot will move correctly from pendant in manual mode. In auto, the robot will go to the first point in that frame, but doesn't move to it at 45 degrees. I thought I needed to change CoordSystem to 5 (for fFrame[5]) but it didn't work.


    Anyone familiar at all with their AOIs?

    Also make sure you are linking that point to that frame. From what i've figured out, every point is based in a frame. If you don't designate it it is the world frame.

    link(pPosition,fFrame) will set that point to your frame. You can always test to make sure by running the program with the pendant, and changing your frame to the one you created. Try and select a point and if its in that frame it will show up on the list.

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