Robot

3. GENERAL SETUP

3.1 FRAMES SETUP

3.1.1 Frames Setup Overview

A frame is a set of three planes at right angles to each other. The point where all three planes intersect is the origin of the frame. This set of planes is called a Cartesian coordinate system . In the robot system, the intersecting edges of the planes are the x, y, and z axes of the frame.

Note

If you are using PalletTool, your gripper might be set up differently than the one shown in the illustrations in this section. The orientation of the gripper depends on how the pneumatics of the gripper are set up. For example, if you are palletizing very large boxes, your gripper might be mounted perpendicularly to what is shown in the illustrations.

Caution

Do not set up or alter frames when you use PalletTool. Frames are automatically set up for you by PalletTool.

If you are using DispenseTool, refer to the SYSTEM R-J3iB Controller Line Tracking Setup and Operations Manual for more information about setting up line tracking encoders and the line tracking frames for use with the Line Tracking option. However, in the Advanced Techniques chapter of the Line Tracking Setup and Operations Manual, do not use the section on Tracking Part Queues. Instead, refer to the section "Editing the Job Queue."

How Frames are Used

Frames are used to describe the location and orientation of a position. The location is the distance in the x, y, and z directions from the origin of the reference frame. The orientation is the rotation about the x, y, and z axes of the reference frame. When you record a position, its location and orientation are automatically recorded as x, y, z, w, p, and r relative to the origin of the frame it uses as a reference.

The location of a position is expressed as three dimensions, which are measured in millimeters from the origin in the x, y, and z directions. For example, 300,425,25 means the position is 300mm in the x direction, 425mm in the y direction, and 25mm in the z direction from the origin.

The orientation of a position is expressed as three dimensions, which are measured in degrees of rotation about the x, y, and z axes. For example, 0,-90,0 means that the position is rotated -90 degrees about the y axis and is not rotated about the x or z axes.

Kinds of Frames

The robot uses four kinds of frames. The different kinds of frames make it easier to perform certain tasks. The kinds of frames are

• World frame - the default frame of the robot

• Tool frame - a user-defined frame

• User frame - a user-defined frame

• Jog frame - a user-defined frame

World Frame

The world frame is a default frame that cannot be changed. The origin of the world frame (0,0,0,0,0,0) is the reference position for user frame and jog frame. The origin is located at a predefined position within the robot.

See Figure 3.1 World

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