Hi all!

I'm trying to run a simulation where basically, the robot take a part, then positions the part front at pedesdetal weld to solder.

I insert all resouscers, products and positioning, then:

1. I Linked the Gripper with snap funtion.

2. I used attach command for 6th axis robot and gripper.

3. I created a new TAG Group (Spots) and TAG's for spots weld (Link mode locally)

4. I Created new task for robot (Task 1). In teach mode I created a program to take a part and positioning it front at stationary. I simulated and no problems

5. I used "set tool" With the Robot at the Home position, set the tool to the robot, and assign the FIXED TCP.

6. Add tag  (created in step 3) to task 1.

The problem is that, obviously TCP this fixed, so robot did not move correctly. I'm confused and do not understand how to continue. I can not get complete this simulation.

Anny suggestion?

Best regards