Hello! Somebody knows whats the diference between UserFrame and ObjectFrame
Thanks!
Hello! Somebody knows whats the diference between UserFrame and ObjectFrame
Thanks!
A work object must be defined in two frames, the user frame (related to the world frame) and
the object frame (related to the user frame).
User frame is a coordinate system (you define) that relates to workspace.
Object frame is a coordinate system (you defien) that relates to a part or work pice.
Really these are just different coordinate systems that you define to help you manipulate the robot.
The work object coordinate system must be defined in two frames, the user frame (related to
the world frame) and the object frame (related to the user frame).
Work objects are often created to simplify jogging along the object’s surfaces. There might
be several different work objects created so you must choose which one to use for jogging.
It's convenient for doing things like palletizing operations, when the pallet is not orthogonal to the robot's World frame.
For example, if the pallet was rotated at a 45deg angle relative to the World frame, the basic way to deal with it would be to have the palletizing routine include trigonometric calculations for each object in the palletizing pattern.
However, with UserFrame and ObjectFrame, you could simply create a WorkObject for the Pallet, and teach the UserFrame such that it matched the orientation of the pallet. Then, the palletizing math could be reduced to simple addition and multiplication with no trigonometry, and the shifts applied to the ObjectFrame.
I tried to modify object frame orientation, but the workpiece orientated according to the user frame... Why is that? (S4, S4C, S4C+, IRC5 all the same...)
Object frame is like an offset to the User frame.
A workobject definition looks like this:
PERS wobjdata wobj_Intake := [FALSE, TRUE, "", [[-112.505, 1183.23, 525.562],[0.707241, 0.00139431, 0.00150676, 0.706969]],[[0, 0, 0],[1, 0, 0, 0]]];
and consists of two parts:
User Frame: [[-112.505, 1183.23, 525.562],[0.707241, 0.00139431, 0.00150676, 0.706969]]
Object Frame: [[0, 0, 0],[1, 0, 0, 0]]];
Okay, I understand, but I told that:
Object frame is like an offset to the User frame while I moving X,Y,Z coordinates.
I orient the uframe.rot or oframe.rot separately same values, but the workpiece position is the same, both times orientated according to the user frame.
I am not sure I understand what you're telling me. Is this an accurate restatement of what you are saying?
You have a point with rotation values "X".
You set the user frame rotation to a certain value "Y" while leaving the object frame values at zero, and execute the point. You expect it to move to "XY" but it only moves to "X"
You set the user frame rotation values to zero while setting the object frame to a certain value "Y", and execute the point. You expect it to move to "XY" but it only moves to "X"
Is this correct?