Defining Offset Moves

You can define and simulate a robot motion which moves to a target with an offset from the taught position in Teach.

When a robot motion having an offset move is simulated, the TCP simulates to a location that is offset from stored in the target by a value equal to the stored offset value.

Defining a single position with several offsets for approach and departure paths simplifies a task for modification on the shop floor. Only the single position needs to be updated to shift the entire path.

Offsets can be applied as Cartesian or Joint values.

Before you begin: You have a task defined having motion instructions.
  1. From the context toolbar within Teach, click Teach Preferences .
    The Teach Preferences - Motion Activity panel appears.
  2. Select Offset as the Target Reference type.
  3. From the context toolbar, create a target of any type (joint, cartesian, etc.).
    The Offset Values panel appears.
  4. Enter the values for the offset that is to be applied. You can also specify whether the target is to be of Joint or Cartesian type.

    Note: Offset targets can be created only for Joint and Cartesian targets.

  5. Click .
    The target is created with the specified offset values.
    Note: Once a target with offset values has been created, the offset values defined can later be edited by clicking Relative/Offset values in the Motion Activity - Edit panel.