Universal Robots Forum

Robot not referencing offset when using step/move_here or set_waypoint

My current project needs to determine the position of the part and apply sealer to it.

The problem is that I cannot move to the point by using the step button or the move here button.

The robot references the point to the original plane and not the offset plane when doing this, and when I do a set_waypoint,
it adds the offset value to the waypoint coordinates.

See post Defining points with respect to plane

Need a feature to overcome this.