Hello ,
My robot controller is system r30ib & robot is m20ia.Application is glass gluing, my project is completed ,now it is time for training to customer so i want to explain them about coordinate system (JGFRM,WORLD,TOOL,USER,JOINT).Please explain me about this coordinate system & difference from each other..
Regarding robot coordinate system....
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avinash gite -
February 22, 2014 at 8:01 AM -
Thread is marked as Resolved.
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joint - moves the individual axes of the robot.
world - moves the robot TCP in the x, y, or z directions and rotates about x (w), y (p), or z (r).
tool - moves the robot TCP in the x, y, or z direction and rotates x(w), y(p), and z(r) in the selected tool frame.
user - a user coordinate system is a Cartesian coordinate system defined for each work space by the user. If the coordinate system is not defined, the world coordinate system substitutes for it. -
My first posting in these Forums. Was going to start a new topic, but my question seemed to fit this discussion.
So, let's say I have a bot set up in a work cell that runs several different jobs. Each job has it's own fixture, and all the fixtures are mounted to a base which is slanted (the base is a permanent part of the work cell). Would it be a good idea to slant the User frame so it's parallel to the base? Or are there advantages to leaving the User frame in its default condition (same as World, I believe), and creating a new Jog Frame to match the angle of the base (the angle at which all jobs sit)?
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My first posting in these Forums. Was going to start a new topic, but my question seemed to fit this discussion.So, let's say I have a bot set up in a work cell that runs several different jobs. Each job has it's own fixture, and all the fixtures are mounted to a base which is slanted (the base is a permanent part of the work cell). Would it be a good idea to slant the User frame so it's parallel to the base? Or are there advantages to leaving the User frame in its default condition (same as World, I believe), and creating a new Jog Frame to match the angle of the base (the angle at which all jobs sit)?
I would teach the USER FRAME at the same angle the fixture base is so that your X, Y, Z movements would be respective to the table. Would save you a ton of time later.
My dual table set up is done this way but I have Dynamic user frames.
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Thanks. My next question is, we have a bunch of jobs already taught into these robots; will changing the User Frame effect all those positions? I'm guessing not, but I'm a bit nervous!
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Thanks. My next question is, we have a bunch of jobs already taught into these robots; will changing the User Frame effect all those positions? I'm guessing not, but I'm a bit nervous!After you have setup your new frame, you will have to use the frame offset feature under menu--> utilities to convert the position data in your programs. That should do the trick!
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If you want to place the old programs in the new UF. Otherwise leave them as they are and use the old frame (or world frame if that is what you are using) for thoose programs.
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If you want to place the old programs in the new UF. Otherwise leave them as they are and use the old frame (or world frame if that is what you are using) for thoose programs.
Thanks. That is what I'll do. Leave the old programs alone, and just use the new User Frame for touchups.