ABB IRC5 with FlexPendant, Руководство по эксплуатации

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5.6.3 Defining the work object coordinate system
Overview
Defining a work object means that the robot is used to point out the location of it.
This is done by defining three positions, two on the x-axis and one on the y-axis.
When defining a work object you can use either the user frame or the object frame
or both. The user select frame and the object frame usually coincides. If not, the
object frame is displaced from the user frame.
How to select method
This procedure describes how to select method for defining either user frame or
object frame or both. Note that this only works for a user created work object, not
the default work object, wobj0. Defining work object can also be done from the
Program Data window.
Action
On the ABB menu, tap Jogging 1
Tap Work object to display the list of available work objects. 2
Tap the work object you want to define, then tap Edit . 3
In the menu, tap Define.... . 4
Select method from the User method and/or the Object method menu. See How to
define the user frame on page 194 and How to define the object frame on page 195
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Operating manual - IRC5 with FlexPendant 193
3HAC050941-001 Revision: G
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5 Programming and testing
5.6.3 Defining the work object coordinate system