Frames: Difference between revisions
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[[File:Blank Page - COORD menu.png|thumb|The yellow menu top-right appears when you hold SHIFT and press COORD. This allows you to change between different frames set up on the robot. You highlight the frame you wish to change and enter the number of the frame you wish to change to.]]
Frames are what allow us to use mathematical expressions to define motion and positions in the real world. They utilize the two main coordinate systems, Cartesian and Joint to define a position, configuration, or orientation as numbers.
When adding a tool or a work area, you will create a frame that defines location and orientation for that tool. FANUC Teach Pendants have utilities available for quickly and easily creating these frames, although you are also able to manually enter measurements taken from the tool.
== Coordinate Systems ==
[[File:Joint Coordinate System.png|thumb|Joint Coordinate System - Each joint has a value based on degrees from a designated zero position.]]Coordinate systems are the methods we use to measure positions and orientations of physical objects. The robot doesn't know anything about the real world or what is in it, as it's driven by a processor that can only work with numbers.
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=== Cartesian Coordinate System ===
[[File:Axis.png|thumb|These are the three translational axis directions. On our robots, the positive X direction is toward the user standing in front of the robot.|alt=]]
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In the bridge between a processor's computation and motion and position in the physical world, we have to have some sort of reference to begin our measurements. Each point in space can be represented by three values represented by the characters X, Y, and Z. This is known as a [https://en.wikipedia.org/wiki/Cartesian_coordinate_system "Cartesian" coordinate system].
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=== World Frame ===
World Frame is the default for your robot. Coordinates are measurements in the Cartesian coordinate system. The zero point for X, Y, and Z is the center of the robot's J1 axis, at the height of J2.
When you are viewing the robot from the front (with the side of the robot with power cables facing away from you) the X direction is positive toward you. The Y direction is to your right, and the Z direction is up.
For the majority of the course, you will be working in the World Frame for simplicity.
=== Joint Frame ===
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X, Y, and Z remain at right angles to one another but their positive directions from the newly defined origin are chosen.
Jogging in the USER Frame in Yaw, Pitch, or Roll will revolve the position of the tool center point about the User Frame Origin.
As an example, a robot may have a conveyor bringing products into its work envelope. This conveyor may be at an arbitrary position relative to the robot, at an angle, or at a unique height in reference to the world frame. Teaching a user frame allows you to jog the robot in a way that is perfectly aligned with that conveyor, as well as teach points on the conveyor that are in reference to permanent marks on the conveyor's chassis. This allows those taught points to still be useful and accurate, even if the conveyor's position, height, and orientation is changed - just by redefining where the new position and orientation are.
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