Frames: Difference between revisions
→User Frame
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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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