ABB OmniCore, Руководство по эксплуатации

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5.2 Coordinate systems for jogging
Coordinate systems
A coordinate system defines a plane or space by axes from a fixed point called
the origin. Robot targets and positions are located by measurements along the
axes of coordinate systems.
A robot uses several coordinate systems, each suitable for specific types of jogging
or programming.
• The Base coordinate system is located at the base of the robot. It is the
easiest one for just moving the robot from one position to another.
• The Wobj (work object) coordinate system is related to the work piece and
is often the best one for programming the robot.
• The Tool coordinate system defines the position of the tool the robot uses
when reaching the programmed targets.
• The World coordinate system defines the robot cell. It is useful for jogging,
general movements, and for handling stations and cells with several robots.
The base coordinate system
The base coordinate system has its zero point at the base of the robot, which
makes the movement predictable for fixed mounted robots. It is therefore useful
for jogging a robot from one position to another. For programming a robot, other
coordinate systems, like the work object coordinate system are often the better
choices.
When you are standing in front of a robot and jog in the base coordinate system,
in a normally configured robot system, pulling the joystick towards you will move
the robot along the X axis, while moving the joystick to the sides will move the
robot along the Y axis. Twisting the joystick will move the robot along the Z axis.
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76 Operating manual - OmniCore
3HAC065036-001 Revision: J
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5 Jogging
5.2 Coordinate systems for jogging