Frames: Difference between revisions

 

==== Methods ====

 

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.

 

There is a lab available detailing all the steps involved in using the three-point method, [[User Frame Lab]]

 

 

 

 

 

The direct entry method requires you to know the exact world-frame coordinates of your zero point, as well as the orientation of each axis. They can be entered manually, one at a time.

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By default, FANUC robots calculate position in the real world by the center of the plate on the end of the last actuator. When you attach a tool, you must tell the robot where the effective end of the tool is, relative to the tool center plate.

 

 

In the three-point method for teaching tool frames, you align the exact center of the tool's effective end with a reference point (any pointy object) three times, each at significantly different orientations. Using these three approach points, the controller will calculate the location you used, relative to the tool center plate.

 

There is a lab available detailing all the steps involved in using the three-point method, [[Tool Frame Lab]]

 

 

 

 

 

The direct entry method requires you to know the exact coordinates of your tool's center point in reference to the tool plate, as well as the orientation of each axis. They can be entered manually, one at a time.

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