Professional Documents
Culture Documents
1
JOINT FRAME C. S.
JOINT coordinate system is coordinate system of individual axis. Each axis rotates
around its rotation center. JOINT c.s. is predetermined and cannot be changed.
2
CARTESIAN C. S.
The robot position in Cartesian c.s. is described with position coordinates x,y, z and
rotations w, p, r.
3
CARTESIAN C. S.
Right hand rule may be used for axis designation and axis rotation.
4
WORLD C. S. AND TOOL C. S.
5
USER C. S. AND JOG C. S.
If the TOOL or USER coordinate systems are changed, the toolpath has to be
preprogrammed otherwise tool collision may occur.
6
TOOL FRAME - TOOL C.S.
TOOL frame is Cartesian coordinate system, which defines tool center point (TCP)
and tool direction (which is normally z axis). The center point of the flange in 6th
axis is default TCP.
TCP must be moved to the tool origin, which is specified by its geometry. The user
defined TCP is a relative distance and orientation in respect to the default TCP.
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TOOL FRAME - TOOL C.S.
8
TOOL FRAME - THREE POINTS
METHOD
By using three points method the TCP is defined by selecting three
points with different tool orientation.
The three point method defines just the movements in x, y, and z of
the TCP. The rotations w, p and r stay the same as in the default TCP.
9
TOOL FRAME - THREE POINTS
METHOD
1. MENU
2. 6 SETUP
3. F1, [TYPE];
4. 5 Frames;
5. F3, [OTHER], then select Tool Frame;
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TOOL FRAME - THREE POINTS
METHOD
6. F2, [DETAIL], TCP screen opens
7. F2, [METHOD], select three point method
8. Move robot in Approach point 1
9. Click SHIFT and F5, RECORD
10. Repeat procedure for Approach point 2 and 3
11. New position calculate is written on the screen
12. Click PREV; click F5, [SETIND] and write the number of the Tool c.s.
11
USER FRAME - COORDINATE
SYSTEM OF THE WORK PIECE
1. MENU
2. 6 SETUP
3. F1, [TYPE];
4. 5 Frames;
5. F3, [OTHER], User Frame;
6. F2, [METHOD], Three point
7. Move the robot in Origin point; click SHIFT, F5 [RECORD]
8. Move the robot in X Direction point; click SHIFT, F5 [RECORD]
9. Move the robot in Y Direction point; click SHIFT, F5 [RECORD]
12
ROBOT PROGRAM
13
ROBOT PROGRAM
14
ROBOT MOVEMENT TYPES
15
TERMINATION POINT
FINE- robot moves and stops in a point and then continuous to a next
point.
CNT- robot approaches to the point but never reaches it. The CNT
value defines the approach distance.
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ROBOT PROGRAM 1
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