Creating a Work Offset for Inclined Surface (RC8/RC8A/COBOTTA)

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**Attention** : Read this resource material carefully and in its entirety before use, to ensure it is understood and used properly.  Failure to properly follow the instructions in the resource materials DPAM provides may result in damage to your equipment.  As a result, by using the resource materials, you are assuming the risks associated with modifying your equipment. DENSO holds no liability, implied or otherwise, for damage, injury or any legal responsibility incurred, directly or indirectly from the use of the resource materials, including any loss of data or damage to property which may occur by your use of the resource materials. The use of the resource materials are not recommended unless you have technical knowledge and functional experience with the equipment and related software. DENSO is unable to provide support, remote or otherwise, for the information included in the resource material, nor for the ancillary topics relating to the information included in the resource materials. Therefore, if you are not fully comfortable with it, we strongly recommend that you send your unit to one of our Regional Support Centers for repair.  The information contained in the resource materials are subject to change at the sole discretion of DPAM.

Overview

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.
https://github.com/DENSO-2DLab/RC8_Function-EasyWork/releases/tag/v2.1.1

Defining Work Offset in Wincaps III

WINCAPS III also allows viewing and editing of Work coordinate systems in its environment:

  1. View -> Arm Coordinate -> Work

Owner’s Manual Reference

https://www.fa-manuals.denso-wave.com/en/usermanuals/001743/


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