FlexPendant Operators Manual 3HAC16590 ... - Technology

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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
13 Descriptions of terms and concepts13.7. What is a coordinate system?ContinuedThe displacement coordinate systemACDBen0400001227ABCDOriginal positionObject coordinate systemNew positionDisplacement coordinate systemSometimes, the same path is to be performed at several places on the same objec, or on severalwork pieces located next to each opther. To avoid having to reprogram all positions each timea displacement coordinate system can be defined.This coordinate system can also be used in conjunction with searches, to compensate fordifferences in the positions of the individual parts.The displacement coordinate system is defined based on the object coordinate system.308Continues on next page3HAC 16590-1 Revision: B
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Operator’s manualFlexPendantIRC5M
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The information in this manual is s
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Table of Contents3.3.6 Backup and r
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Table of Contents6.9.3 Running a sp
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Table of Contents8
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OverviewContinuedPrerequisitesThe r
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Product documentation, M2004Continu
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1 Safety1.2. Applicable safety stan
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1 Safety1.3.1. Safety signals, gene
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1 Safety1.3.2.2. DANGER - Moving ma
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1 Safety1.3.3.1. WARNING - The unit
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1 Safety1.3.4. What is an emergency
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1 Safety1.3.6. What is safeguarding
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1 Safety1.4.1. Stop the system1.4 H
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1 Safety1.4.3. Extinguishing fires1
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1 Safety1.4.5. Return to the progra
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1 Safety1.5.2. For your own safety1
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1 Safety1.5.4. Safety tools1.5.4. S
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1 Safety1.5.6. Safety in automatic
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2 Welcome to FlexPendant2.2. What i
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2 Welcome to FlexPendant2.5. When t
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2 Welcome to FlexPendant2.5. When t
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2 Welcome to FlexPendant2.6. Button
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3 Get started3.2.1. Connecting a Fl
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3 Get started3.2.3. Connecting a PC
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3 Get started3.2.4. Set up the netw
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3 Get started3.3.1. About the Actio
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3 Get started3.3.2. System start up
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3 Get started3.3.3. JoggingContinue
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3 Get started3.3.4. Using RAPID pro
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3 Get started3.3.6. Backup and rest
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3 Get started3.3.8. Granting access
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3 Get started3.3.10. Installing sof
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3 Get started3.3.12. General proced
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4 Navigating and handling FlexPenda
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5 Jogging5.2.1. Restrictions to jog
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5 Jogging5.3.1. Selecting mechanica
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5 Jogging5.3.2. Selecting motion mo
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5 Jogging5.3.3. Selecting tool, wor
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5 Jogging5.3.5. Jog axis by axis5.3
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5 Jogging5.3.6. Jog in base coordin
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5 Jogging5.3.7. Jog in world coordi
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5 Jogging5.3.9. Jog in tool coordin
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5 Jogging5.3.10. Locking the joysti
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5 Jogging5.3.11. Incremental moveme
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5 Jogging5.3.12. How to read the ex
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5 Jogging5.3.13. Quickset menu, Mec
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5 Jogging5.3.13. Quickset menu, Mec
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5 Jogging5.3.14. Quickset menu, Inc
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6 Programming and testing6.2.1. The
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6 Programming and testing6.3.1. Vie
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6 Programming and testing6.3.2. Cre
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6 Programming and testing6.3.3. Edi
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6 Programming and testing6.4.2. Def
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6 Programming and testing6.4.6. Set
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6 Programming and testing6.5.2. Def
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6 Programming and testing6.5.5. Del
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6 Programming and testing6.7.1. Han
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6 Programming and testing6.8.1. Mir
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6 Programming and testing6.8.2. Mod
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6 Programming and testing6.8.3. Mov
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6 Programming and testing6.9.1. How
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6 Programming and testing6.9.2. Run
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6 Programming and testing6.9.3. Run
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6 Programming and testing6.9.4. Qui
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6 Programming and testing6.9.6. Ste
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6 Programming and testing6.10.1. Ru
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6 Programming and testing6.10.3. Ca
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6 Programming and testing6.10.5. Lo
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7 Running in production7.1. Startin
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7 Running in production7.3. Using m
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7 Running in production7.4. Returni
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7 Running in production7.5.1. Prese
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7 Running in production7.5.3. About
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7 Running in production7.5.4. Start
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7 Running in production7.5.6. Runni
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7 Running in production7.5.8. Switc
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7 Running in production7.5.10. Swit
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8 Handling inputs and outputs, I/O8
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9 Handling the event log9.2. Deleti
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9 Handling the event log9.3. Saving
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10 Systems10.2.1. What is “the me
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10 Systems10.2.2. The structure of
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10 Systems10.2.3. File handling10.2
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10 Systems10.3.2. Using the boot ap
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Page 269 and 270: 10 Systems10.4.3. Restore the syste
Page 271 and 272: 10 Systems10.5.1. Configuring syste
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Page 275 and 276: 11 Calibrating11.2. Updating revolu
Page 277 and 278: 11 Calibrating11.3. Loading calibra
Page 279 and 280: 11 Calibrating11.5. Fine calibratio
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Page 285 and 286: 11 Calibrating11.7. 4 points XZ cal
Page 287 and 288: 12 Changing FlexPendant settings12.
Page 301 and 302: 13 Descriptions of terms and concep
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Page 315 and 316: Indexprograms 165filteringabout 101
Page 317 and 318: Indexaxis computer 263contactor int
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