Staubli CS8C, Instruction Manual

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6.11.
TEACHING FRAMES
This paragraph constitutes a frame teaching procedure using the three-point method.
This method enables you to define the orientation of the new frame in a precise way by recording three points:
•
The frame origin
(O)
•
A point (Ox) located on the X axis of the frame on the positive x side
•
A point (Oxy) on the plane formed by the X and Y axis on the positive y side
The method used is as follows:
•
After creating a new
Frame
type data, use the Teac key in the menu to call up a "Teaching" display (see
figure
6.19
).
•
Position the point of the robot tool at the desired point of origin using jog interfaces and press the Here key in
the pop-up menu.
•
Repeat the operation for "X axis" and "Y axis" and then validate the orientation of the new frame
(1)
.
•
Save the modifications.
The frame coordinates are displayed in the box
(2)
.
The point values and marker orientations can be modified using the Edit menu.
Figure
6.19
1
2