How to use user cordonates ?

[Cheikh]

Hi my name is Cheikh, I'm very happy to be in this website. I'm working with Motoman NX100 and i have some questions :

1 -  How to use users cordinates ?

2 -  How to use MOVEC with angular speed?

Thx so much...

[Fabian Munoz]

Hi Cheikh

Welcome to the robot-forum

I recommend you to go to the manual section and download manuals and read about the USER.  Do you understand the concept of user coord, tool coord, world coord ?

About MOVEC,   Teach a C point, look at the bopttom of the screen where it says MOVEC V=12.  Highling MOVE, press Select , now in new screen, highlight V, press Select, and select the VR option.   Put a small number , like 3 for speed and see how it works for you

[Cheikh]

Thx your ! Somar I will try it  

I think i don't undrestand the concept of user coord.

[gianne]

hi cheik,

user coordinate is a concept quite simple.
Think about a robot with an object placed on a table; maybe you want to measure the coordinate position of the object referred to the table (maybe on a corner), instead measuring the coordinates respect to the robot base.
So the user coordinate alow you to define e zero coordinate system on the table and measure all the positions respect to the table.

I hope it can help

gianne.

[Fabian Munoz]

Good one gianne,

Now, cheik, lets say you move the table around, guess what, the object on top of the table hasn't change its position on the table, still in "the same" place BUT it's in a completely location regarding the robot.
The key issue here is to know exactly where is the table new location, if you get now where therefore no know where the object is.

If I recall correctly, Motoman has an example on USER using a welding table, look for those pictures

Don't shake the table to much or the object is going to move away from its original position

[tony gast]

User frames have 2 main purposes

1 Set up a user frame for teaching use only
    If you have a part that does not follow the robots XYZ planes......you can teach a frame that will make following a part much easier (move only one direction vs constantly moving multiple direction to follow a line down a part)

2 Set up a frame for shifting (both a static or dynamic frame)
    Example spot welding a seam with evenly spaced welds.....A frame is taught so the seam will exactly follow X or Y. If the seam moves you can use MF command to search and build frame to keep the seem in line with the X or Y plane.

[Cheikh]

Thanks you for yours help ! Another thing, do you know a method to optimize an algorithmique of motoman language ?

[Robo Guru]

What do you mean optomize an algorithim?  Can you please explain