USER FRAME blues

    Hello all,

    I am working at a new customer who has set the typical 3 pins to create user frames not at 90º.

    I have a straight line in the XY axis (X1 to Y1), but the X2 position is not aligned with X1. In other words, the angle defined between X1-X2-Y1 is not 90º.

    Is the Fanuc robot capable to create a user frame this way?

    And will the Z axis work as it would in a perfectly 90º pins distribution?

    Sorry for this simple question, but I have never done this like that, and the robot is still not properly connected so I can't try it. And, as usual, customer is on a hurry.

    Thank you all in advance.

    I tested this on my RJ3iB (HandlingTool 6.4) a few years ago. The Origin-X axis defines the X axis direction. The XY plane is defined as containing the Origin-X axis and the Origin-Y axis (ie, the Y point controls rotation about the X axis). And the Z axis is orthogonal to the XY plane. So no, the angle doesn't have to be 90 degrees, but the Origin-X axis defines the X axis direction and therefore the orientation.

    The 3-point method first defines the origin point. The second point defines the X+ axis, as a line from the Origin to the second point. The 3rd point defines a plane. The Z axis is perpendicular to that plane.

    So, the alignment of the 1st and 2nd points are critical. A line between the 3rd point and the Origin does not need to form a 90deg angle with the X axis, but whether it lies in the X+ or X- region (relative to the Origin) will determine if the Z+ axis points "up" or "down", and the "height" of the 3rd point relative to the Origin and X points will define the angle of the Z axis.

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