ABB IRC5 with FlexPendant, Руководство по эксплуатации

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The work object coordinate system
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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 work object coordinate systems you create targets and paths when
programming the robot. This gives a lot of 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.
Examples of use
For example, you are determining the positions of a number of holes to be drilled
along the edge of the work object.
You are creating a weld between two walls in a box.
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126 Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
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4 Jogging
4.2 Coordinate systems for jogging
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