ABB OmniCore S Series, Operating Manual

Page: 69 / 236

The work object coordinate system
World coordinate system A
Work Object coordinate system 1 B
Work Object coordinate system 2 C
The work object coordinate system corresponds to the work piece. It defines the
placement of the work piece in relation to the world coordinate system (or any
other coordinate system).
The work object coordinate system must be defined in two frames, the user frame
(related to the world frame) and the object frame (related to the user frame).
A robot can have several work object coordinate systems, either for representing
different work pieces or several copies of the same work piece at different locations.
It is in the work object coordinate system you create targets and paths when
programming the robot. This gives the following advantages:
• When repositioning the work piece in the station you just change the position
of the work object coordinate system and all paths are updated at once.
• Enables work on work pieces moved by external axes or conveyor tracks,
since the entire work object with its paths can be moved.
Following are two examples of work object coordinate system in use:
• To determining the positions of a number of holes to be drilled along the
edge of the work object.
• To create a weld between two walls in a box.
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Operating manual - OmniCore 69
3HAC065036-001 Revision: E
© Copyright 20192020 ABB. All rights reserved.
5 Jogging
5.2 Coordinate systems for jogging
Continued