ABB ROBOTSTUDIO SNAP TCP TO POINT OFFLINE

If a workobject is attached to a mechanical unit (and the system uses the option for coordinated motions), the robot will find the targets in the workobject even when the mechanical unit moves the workobject.Д«elow is a representation of different coordinate frames when robot is holding the workpiece. Workobjects are also used for coordinated motions. Here the user frame is positioned at the table/fixture and the object frame at the workpiece. In the picture below the grey coordinate system is the world coordinate system, and the black ones are the object frame and the user frame of the workobject. If a workobject is attached to a mechanical unit (and the system uses the option for coordinated motions), the robot will find the targets in the workobject even when the mechanical unit moves the workobject.

ABB ROBOTSTUDIO SNAP TCP TO POINT OFFLINE

If the placement of the fixture/work piece relative to the robot in the real station does not completely match the placement in the offline station, you simply adjust the position of the workobject. Thus, workobjects can be used for calibrating offline programs. Using workobjects provides the chance to easily adjust robot programs with an offset, if the location of the work piece has been changed. If no other workobject is specified, the targets will be related to the default Wobj0, which always coincides with the base frame of the robot. When programming a robot, all targets (positions) are related to the object frame of a workobject. It is composed of two coordinate systems: the User frame and the Object frame, where the latter is a child to the former. The workobject normally represents the physical work piece. When a program runs, the robot moves the TCP to the programmed position. Several different TCPs may be defined for one robot.ДЄll robots have one predefined TCP at the robotвЂ™s tool mounting point, called tool0. The tool center point coordinate system, also called TCP, Tool-centre point (TCP) coordinate system Which is always located at the base of the robot. Base frame coordinate systemД®ach robot in the station has a base coordinate system, Whereas several task frames are suitable when working with MultiMove Independent. One task frame can coordinate the placement of several mechanisms, In particular with multiple robots or mechanisms. The task frame coordinate system is useful to define within a station or robot cell, This is the top of the hierarchy to which all other coordinate systems are related. The world coordinate system represents the entire station or robot cell. Below are descriptions of commonly used coordinate systems, Where the origin of each coordinate system is defined as a position in one of its ancestries. The coordinate systems relate to each other hierarchically, In RobotStudio, you can use all coordinate systems described below, as well as user-defined coordinate systems,ДЇor relating objects and elements with each other. This section gives a introduction to coordinate systems that are often used in offline programming.

Abb robotstudio snap tcp to point