ABB IRC5 with FlexPendant, Руководство по эксплуатации

Страница: 195 / 306

How to define the object frame
This section describes how to define the object frame if you want to displace it
from the user frame.
en0400000899
The x axis will go through points X1-X2, and the y axis through Y1.
Action
In the Object method pop up menu, tap 3 points . 1
See steps 2 to 4 in the description of How to define the user frame on page 194 . 2
How to save the defined positions
Normally the defined positions are only used as temporary positions by the
controller to calculate the position of the work object and are then discarded.
However, the positions can also be saved to a program module for later use or
analysis.
When saving the positions a new program module is created where the positions
are stored with predefined names given by the controller. The names of the positions
can be changed afterwards, but when loading the positions it is recommended to
use the predefined names.
Note
Only the positions (robtargets) are saved. Make sure to note which tool was used
when modifying the defined positions.
Action
When the work object frame definition is completed and all positions have been
modified, tap
OK .
1
In the Save Modified Points dialog, tap Yes . 2
Tap ABC to change the name of the program module, tap OK to accept the name. 3
Continues on next page
Operating manual - IRC5 with FlexPendant 195
3HAC050941-001 Revision: G
© Copyright 2018 ABB. All rights reserved.
5 Programming and testing
5.6.3 Defining the work object coordinate system
Continued