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

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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:

'!TITLE "Robot program"

Sub Main
     TakeArm Keep = 0
     
     Work 1, P(0,0,0,0,0,45)
     'Defines Work1 as a 5 degree Rotation in the Z plane

     Work 2, P(100,100,50,0,0,0)
     'Defines Work2 with a 100mm offset in the X and Y planes, and a positive 50mm in the Z. 

     ChangeWork 1
     'Changes work to Work1
End Sub
  

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

'!TITLE  "Generate Work Offset" 
#Include "EasyWork.pcs"

Sub Main
     Dim Point1 As Position
     Dim Point2 As Position
     Dim Point3 As Position
     Dim newWork As Position

     Point1 = (-160, -200, 180, 0, 0, 0, -1)          'New Work Center
     Point1 = (-300, -160, 240, 0, 0, 0, -1)          'New Work X Axis
     Point1 = (-230, -270, 270, 0, 0, 0, -1)          'New Work XY Quadrant

     newWork = EasyWork(Point1, Point2, Point3)     'Generate New Work Coordinate
     Work 1, newWork
End Sub

Defining Work Offset in WinCAPS III

WINCAPS III also allows viewing and editing of Work coordinate systems in its environment: View -> Arm Coordinate -> Work

Owner's Manual Reference

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