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A work offset is defined by moving the origin of the robots coordinate system to an offset distance from its default location. The default location is known as Work 0 and cannot be changed. Subsequent work offsets are labeled as Work 1, Work 2 and so on.
When developing an application, it can be very useful to have a work coordinate plane that is at an angle; to either match the contours of an existing work piece, or match the fixtures the robot arm is working with.
In the DENSO programming environment, there are 3 ways this can be done: Manual Entry, Easy Edit, and programmatically.
Method #1: Manual Entry
Method #2: 3-Point Teaching Method
Method #3: Program Entry
You can enter and define your work coordinate systems directly inside your programs if you desire. See the commands below:
3-point teaching PACScript function (custom)
If you would like to create a work offset based on 3 points similar to the teach pendant menu. You can use a sample function to create one on Github.
Defining Work Offset in Wincaps III
WINCAPS III also allows viewing and editing of Work coordinate systems in its environment:
- View -> Arm Coordinate -> Work