Frames

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Frames are what allow us to use mathematical expressions to define motion and positions in the real world.

Coordinate Systems

Joint

Joint Coordinate System - Each joint has a value based on degrees from a designated zero position.

The joint coordinate system is the simplest from the point of design and control. Each joint has a specific range of motion it is capable of, expressed in degrees. A joint coordinate is simply a list of each joint's angular position.

The robot controller processor calculates the end of arm tooling point using simple trigonometric equations, with the variables of each joint's angle and length between joints.

Saving global positions in JOINT coordinate systems make them truly global, as it will always represent an exact configuration of the robot arm.

Joint 1	Joint 2	Joint 3	Joint 4	Joint 5	Joint 6
100°	112.323°	10°	88°	399°	84.34°

Cartesian

These are the three translational axis directions. On our robots, the positive X direction is toward the user standing in front of the robot.

In the bridge between computation and 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 "Cartesian" coordinate system.

To use a Cartesian system we have to define where 0 is for each axis. Since it does not affect the calculations and only makes it easier to understand, we define 0 as the same point for all 3.

The familiar looking image on the left demonstrates this. The intersection between the three axis lines is the "Zero" point.

There are three more axes to consider, but don't define the object's location in space. They are represented by the characters W, P, and R, colloquially referred to as yaW, Pitch, and Roll.

Yaw, Pitch, and Roll determine the object's orientation about the position defined in X, Y, and Z.

Yaw is the rotation about the X axis.

Pitch is the rotation about the Y axis.

Roll is rotation about the Z axis.

The FANUC Cartesian coordinate system also includes data that represents the configuration of various joints, since there is often more than one solution to bring the tool to a specific point and orientation. This is described as Wrist, Elbow, and Robot.

The Wrist could be N (not-flipped) or F (flipped)

The Elbow could be U (uA full breakdown of Cartesian coordinates could be represented by the following example:p) or D (down)

The Robot could be T (Front) or B (back)

Cartesian Coordinates

X	Y	Z	Yaw	Pitch	Roll	Configuration
100mm	112.323mm	300mm	108°	20°	84.34°	N, U, B

Frames

The choice of frames in FANUC programming determine where to reference "zero" at for each axis. It can be useful to work with your robot in reference to the tool, or your work area, or the robot itself.

World Frame

The world frame is the default for your robot. The zero point for X, Y, and Z is the center of the robot's J1 axis, at the height of J2.

User Frame

In user frames, the coordinates you work with start at a user-defined position

Three-Point Method

In the three-point method for teaching user frames, you teach an origin point to determine the zero point for each axis, an X point to determine the exact direction of positive X, and a Y position to determine the direction of positive Y.

Tool Frame

Teaching a tool frame lets you work with your tool in reference to the exact position of the effective center of your tool, which very well may be offset from the center of the robot's tool plate.

Jog Frame

This is the Tool Frame page on the Teach Pendant

This is the User Frame page on the Teach Pendant