We have mounted a cobot on a new machine and its first position is off by around 3mm. We copied and pasted our code from another identical set up. Our TCP is related to the base of the robot. I tried using a new plane as a base but it’s not working as we run the program. Would I need to do a pose_add script function to all my critical waypoints? Or is there an easy way around this?
This is why Features exist. You should try to always teach your waypoints to a Feature, that way you can just change the Feature and all your points will shift too. If you left everything taught to Base from your other setup, then there’s not much you’re going to be able to do. You can’t retroactively use a Feature, it has to be selected at the time you save the waypoints.
You can TRY to cheat by faking in some TCP data that is 3mm “off” from what you think it should be in order to try to trick the robot to go where it should. Might have other negative consequences though.