[ButlerDylan42]

Hello,

Is there a way to have the reference frame of targets be transferred to a physical UR Cobot?

I was able to transfer the move instructions to my system however i noticed all the waypoints are referenced off the base. In RoboDK i have the targets referencing a separate frame.

I want to be able to update the reference frame in my physical system and all the points move to that new reference point.

[ButlerDylan42]

Hello, I looked more into the code and i can see a comment saying “using Ref” and it gives values. Does that mean when RoboDK generates the points the values are calculated based off the reference, however there is an additional calculation to determine the final points off the base?

If my understanding is correct is there anyway to not have this done?

I want to be able to update the reference later on the physical Cobot itself

[Albert]

UR robots didn't support setting coordinate systems not so long ago, this is why RoboDK exports targets with respect to the robot base frame by default.

However, when you generate a UR script, you can see the pose manipulations being done using pose_trans and you could change the reference pose in your post processor. This can be configured with the post processor variable called USE_RELATIVE_TARGETS.