6 Robot Settings
6.3 User Frames
6-22
HW1485509
HW1485509
6.3.2 Methods for User Frame Setting
User coordinates are defined by three points that have been taught by the
manipulator. These three defining points are ORG, XX, and XY, as shown
in the diagram below. These three points are referenced from the World
Frame, and are registered in a user frame file.
ORG is the origin position. XX is a point on the X-axis. XY is a point on
the Y-axis side of the taught user coordinates. The directions of the Y- and
Z-axes are determined by point XY.
6.3.3 User Frame Number
63 user frames can be created, numbered from 1 to 63.
It is important that ORG and XX are taught accurately.
User frame definition point
ORG: Origin position
XX: Point on the X-axis
XY: Point on the Y-axis
ORG
X-axis
XY
XX
Z-axis
Y-axis
User Frame 63
User coordinate file 4
User coordinate file 3
User coordinate file 2
User Frame 1
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