[RobotStudio study notes] (6) Workpiece coordinates

1. Introduction to Workpiece Coordinates

Create a rectangular coordinate system at any position and any angle on the target worktable, and call this coordinate system the workpiece coordinate.
It can be realized by creating a workpiece coordinate system in different positions, and the same program can realize the same processing in different positions.

Two, 3-point method to set workpiece coordinates

1. Enter manual operation-workpiece coordinate=new, create a workpiece coordinate
   
   
2. Select the newly created workpiece coordinate, edit-define, select 3 points for the user method
   
   
3. If you want to create a coordinate system as shown in the figure below
   
4. In the simulation, choose Basic-Other-Create Workpiece Coordinates, User Coordinate Frame-Take Points to Create Frame, and select three points to create a coordinate system.
   
   

Three, the determination of the actual system workpiece coordinates

When operating the actual robot system, you can select a workpiece with a tip, manually align the three points to be determined, and record and set the workpiece coordinates.

1. Add a sharp-pointed tool to determine the coordinates of the target point. Add the tool to the robot system and hide the previous gripper tool.
   
   
   

2. Set the first two steps of the workpiece coordinate according to the above three-point method . Select the three points of the warehouse and set them as X1, X2, and Y1 respectively to determine the workpiece coordinate system. Click OK when finished.
   
   
   

3. Similarly, you can also create a workpiece coordinate on the console
   
   
   

4. Delete the tool (Pen) just added to determine the point to make the gripper visible

Fourth, the method of modifying the workpiece coordinate in the program

Modify the workpiece coordinates in the program, so that part of the actions of clamping the workpiece in the warehouse use the warehouse workpiece coordinate system, the placing part of the action on the console uses the console workpiece coordinate system, and the rest of the actions use the default workpiece coordinate system.

1. Take the action at the pPickUP position as an example. Run the program in a single step. When it reaches the pPickUP position, click the entire instruction, optional variables—[\WObj]—use
   
   
2. Click wobj0, select wobj_CK to confirm
   
3. Choose to return to the manual operation panel, click on the workpiece coordinate, and select wobj_CK
   
   
4. Go back to the program editor, select the statement you just edited, and modify the position.