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Hello,   After the object EL1918 of Beckhoff is scanned from the TwinCAT, the CPS has several errors, I do not understand what it is meaning. Please see the attachments, thank you~ NexeedEcBcEL1918 - V2.1 NexeedEcBcTwinSafeLogic CPS5.4 ... View more

Hello,  I do not understand the AddOffsetRobotPointToList using method, my application is that I want to calculate a new robot point based on a reference point for replacing the picking point, because product picking position is different.  for example: reference point(see attachment 'Picking_Position_value')  the X = 78.78, Y = 341.3.  I want to calculate it to X = 138.78, Y = 341.3 via AddOffsetRobotPointToList method, but the result is not what I expect. (see attachment Pincking_Position_value_after_adding_offset and PLC_Code).  I refered to the document, but do not understand what the 'the robot point addressed by BaseIndex is considered the origin of a new reference coordinate system' meaning.  Hardware : Staubli scara 4 axis thank you. ... View more