Geometries with orientation support
Chapter 4
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
141
Work Frames
Work ID
Work Frame Offsets
Work Frame 3
2
50
-100
-800
0
0
180
Work Frame 4
3
-100
-50
-800
0
0
90
Work frames with different robot positions
It is acceptable to mount robots with different orientations, such as upside down
and horizontal positions. Work frame offsets set the relationship between the
work frame and the base frames so that programing the target position is
convenient for the users.
This diagram illustrates robots mounted in horizontal and upside down positions.
Work frame offsets 1 and 2 convert the target positions to conveyor coordinate
system assuming it is placed on the ground.
Work Frames
Work ID
Work Frame Offsets
X
Y
Z
Rx
Ry
Rz
Work Frame 1
0
100
500
100
90
0
90
Work Frame 2
1
-100
100
500
180
0
90