12-18-2021, 03:43 PM
I think I know what's going on.
Your TCP Z axis in pointing toward the tool instead of outward.
The teach target on surface is built so that it tries to match the Z axis "in" the surface your are hovering on top of.
And I think the reason why you see the robot flat like that is because it's out of reach for the robot to be pointing underneath your surface.
You can either flip your tool Z axis, or change (rotate) the red or green wheel 180 degrees (I would recommend the first option).
Jeremy
Your TCP Z axis in pointing toward the tool instead of outward.
The teach target on surface is built so that it tries to match the Z axis "in" the surface your are hovering on top of.
And I think the reason why you see the robot flat like that is because it's out of reach for the robot to be pointing underneath your surface.
You can either flip your tool Z axis, or change (rotate) the red or green wheel 180 degrees (I would recommend the first option).
Jeremy
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