IRB7600, RW v6.12.00
This isn't a huge deal or even a problem really, just something I am curious about.
I am working on a cell that had some positions taught in reference to the robot base. I wanted these positions to be referenced to the fixture, so I created some temporary jointtargets, moved the robot to the originally taught positions, and then modified the temporary jointtargets. Then I went about defining my frames as usual, then used the function CalcRobT and filled in the temporary jointtarget, tool, and new work object. When I went to the newly defined robtarget, the X and Y position lined up perfectly like before, but the robot went too deep by about 6mm.
The work object in question is rotated clockwise 90º about Z and then shifted -2800mm in X, -730 in Y, and 750 in Z from the base.