Universal Robots Forum

Bug: Reference plane, Inverted robot. New plane offset opposite expected

My setup includes an inverted UR10e and a centering table.
I taught the centering table as a reference plane using 3 hard points on the fixture, and taught my job with MoveP realitive to that plane.

We modified the Robot stand by adding ~50mm spacers, and i retaught my plane to the new setup.

Everything ended up shifted ~100mm in the wrong direction. I assume this is a bug WRT the inverted robot.

Below are the 3 taught position values, the calculated plane, and a sample waypoint that was taught relative to the plane in both plane & base coordinates.