Geometries with orientation support
Chapter 4
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
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The work frame offset is a set of (XYZRxRyRz) coordinate values that redefines
the origin of the robot from the new work frame. X, Y, Z represents distance of a
work frame from the robot’s base frame and Rx, Ry, and Rz represents rotations
around those axes.
Configure Offset Parameters
Configure the work frame offsets in the MCTO or MCTPO instruction in Logix
Designer application. Measure the offset distance and rotation for the work frame
with respect to the base frame. Enter the degrees of rotation offsets into the Rx,
Ry, and Rz tag members in units of degrees, and enter the offset distances into the
X, Y, and Z tag members in coordination units.
Default values of the work frame offsets are set as (0, 0, 0) for translation and (0, 0,
0) for rotation. These values set the robot’s base frame as the default work frame.
Work frame ID helps define multiple work frames using the same tag variable with
different ID numbers. Set the ID member to a value greater than or equal to zero.
The following image shows the work frame offset configuration in the MCTO
instruction and offset values defined for a work frame tag "WorkFrame_Offset".
Status Attributes (ActiveWorkFrameID and ActiveWorkFrameOffset)
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ActiveWorkFrameID and ActiveWorkFrameOffset attributes reflect the
information specified in the work frame operand when the MCTO
instruction is activated.
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When the MCTO instruction is executed, Work Frame ID and Work
Frame Offset members of the Work Frame operand of the MCTO
instruction are copied to the ActiveWorkID, ActiveWorkOffset members
of the source coordinate system (specified in the MCTO instruction).
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ActiveWorkFrameID will be set to default value as -1 when no work frame
is active. It will also be reset to this value when transform instruction
terminates. The ActiveWorkFrameOffset values are cleared when the
transform instruction terminates.
Work frame offsets