FlexPendant Operators Manual 3HAC16590 ... - Technology

13 Descriptions of terms and concepts13.7. What is a coordinate system?ContinuedThe work object coordinate systemen0300000498A World coordinate systemB Work Object coordinate system 1C Work Object coordinate system 2The work object coordinate system corresponds to the work piece: It defines the placementof the work piece in relation to the world coordinate system (or any other coordinate system).The work object coordinate system must be defined in two frames, the user frame (related tothe world frame) and the object frame (related to the user frame).A robot can have several work object coordinate systems, either for representing differentwork pieces or several copies of the same work piece at different locations.It is in work object coordinate systems you create targets and paths when programming therobot. This gives a lot of advantages:• When repositioning the work piece in the station you just change the position of thework object coordinate system and all paths are updated at once.• Enables work on work pieces moved by external axes or conveyor tracks, since theentire work object with its paths can be moved.3HAC 16590-1 Revision: BContinues on next page307