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

Please read our Legal Disclaimer before executing any steps on this article

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: View -> Arm Coordinate -> Work

Owner's Manual Reference

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