FlexPendant Operators Manual 3HAC16590 ... - Technology

6 Programming and testing6.5.3. Editing the work object data6.5.3. Editing the work object dataOverviewUse the definition to set the position of the user and work object coordinate system andphysical properties of the work object, such as weight and center of gravity.Displaying the work object dataStepAction1. In the ABB menu, tap Jogging.2. Tap Work object to display the list of available work objects.3. Tap and hold the work object you want to edit.A menu appears.4. In the menu, tap Change Value.The data that defines the work object appears.Setting the work object and user coordinate systems positionThe easiest way to set the work object and user coordinate systems position is to use themethod described in Defining the work object coordinate system on page 155.Step Action Instance Unit1. Enter the cartesian coordinates ofthe position of the work objectcoordinate system.2. If necessary, enter the coordinatesystem’s orientation.3. Enter the cartesian coordinates ofthe position of the user coordinatesystem.4. If necessary, enter the coordinatesystem’s orientation.5. Tap OK to user the new values,Cancel to leave the definitionunchanged.oframe.trans.x[mm]oframe.trans.yoframe.trans.zoframe.rot.q1-oframe.rot.q2oframe.rot.q3oframe.rot.q4uframe.trans.x[mm]uframe.trans.yuframe.trans.zuframe.rot.q1-uframe.rot.q2uframe.rot.q3uframe.rot.q4- -1583HAC 16590-1 Revision: B