ABB IRC5 with FlexPendant, Operating Manual

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6.4.4 Working with displacements and offsets
About displacements
Sometimes, the same path is to be performed at several places on the same object,
or on several work pieces located next to each other. To avoid having to reprogram
all positions each time a displacement coordinate system can be defined.
This coordinate system can also be used in conjunction with searches, to
compensate for differences in the positions of the individual parts.
The displacement coordinate system is defined based on the object coordinate
system.
The displacement coordinate system is described in section Coordinate systems
for jogging on page 123 .
Select displacement method
Depending on how, when, and how often you want to use displacements, the best
method may vary.
Moving a work object
Moving a work object is suitable when you do not need to move or displace the
work object very often.
This is detailed in section Defining the work object coordinate system on page 193 .
Displace a work object
A work object consists of a user frame and a object frame. You can move one or
both of these frames. If you move both frames, then the whole work object is moved.
It can be useful to displace the object frame from the user frame for instance when
using one fixture for several work objects. Then you can keep the user frame and
displace the object frame for the work objects.
See procedure How to define object frame in section Defining the work object
coordinate system on page 193 .
Displace and rotate a work object
You may want to displace and rotate the object frame from the user frame if the
displacement is not in just x, y, and z.
To displace in x, y, and z, you can use the same method as above. To rotate the
work object, follow the procedure in section
Editing the work object data on page 197 .
About offsets
Sometimes it is easier to define a position as an offset from a given position. If, for
example, you know the exact dimensions of a work object, it will only be necessary
to jog to one position.
The offset is programmed with the displacement distance in x, y, and z direction,
in relation to the work object. For instance:
MoveL Offs(p10, 100, 50, 0), v50...
Define the offset for the position with the following expressions:
1 Original position / starting point
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272 Operating manual - IRC5 with FlexPendant
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6 Running in production
6.4.4 Working with displacements and offsets