Angled WorkPlace with a SCARA HSR-065A1-N20-RC8A

    So I am working with a ROBOT DENSO SCARA HSR-065A1-N20-RC8A.

    There are 3 workplaces with an angle of 80º (from base).

    I need that when the robot is on those workplaces and I move the Z axis it follows that angle.

    Can't find a way to move the robot based on the WorkPlace Coordinate System that I define. Only XYZ, Joint or Tool

    It sounds like you should use a new work coordinate system. By using work 1-7 you change the user coordinate system. Work 0 is the base of the arm (this cannot be changed).

    Dear Mr.Question, before move select the work using command Changework n where n is the number of work (from 0(base of robot) to 7)

    After this selection you move using Draw command if you need a relative movement or Dev if you want shift a position P using the orientation of these work

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