(RS 2022)
So, I'm trying to set up a simulation with a fixed TCP doing a dispense-type operation on a robot-carried part. And I'm having some weird issues.
If I activate the Carried WObj and the fixed TCP, and teach a Target with them, I get two very different frame items created, neither of which is anywhere near the TCP or WObj when I used the Teach Target tool.
If I right-click the Target and use "View Tool At Target," the tool actually goes where I want (but now I can't shut that view off!). But if I use "Jump to Target", with the Fixed Tool and Carried WObj active, the robot doesn't move to the desired position. There must be something fundamental I'm missing here.
This is with the carried WObj hilighted in the WorkObjects&Targets tree. The actual WObj is the frame at the bottom center of the cube being carried by the robot. The frame highlighted at the top of that "post" on the table is the actual target, at the location of the fixed TCP. That other highlighted frame floating in space below the cube, I have no idea, but it highlights when I select the Carried WObj, along with the other two frames.
If I click on the Target itself:
This is strange, b/c the tool moves the wrong TCP (one of the carried TCPs) to the correct position in space. Since that Target was taught with the Fixed TCP and Carried WObj, that suction cup should be above the fixed tool by the size of the cube. And yes, the Target is defined in the Carried WObj, and the WObj is set as RobHold=True. The active TCP is the fixed TCP, and has RobHold set False.
And if I try jumping the robot to the target, nothing happens -- the robot stays where it's shown in the last screenshot.
Also, I cannot turn the "View Tool at Target" off. Any target I select, the detached model of the tool just appears at the target. Does anyone know how to shut that off? There's a prompt to turn off the "show robot at Target" option, but I'm not seeing or finding anything for the "show tool at target" option.