Frames: Difference between revisions
→Tool Frame
Line 177:
===== Three point =====
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]]
===== Four-Point =====
Line 191 ⟶ 188:
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.
Since Tool Frames are in reference to the tool plate, a tool that is perpendicular and 100mm away from the tool plate will have a Z value (in its tool frame) of positive 100mm. If your tool is facing down and you jog in +Z, it will lower the position of the tool relative to the world frame, so always be aware of which frame you are in.
====<u>Methods</u>====
| |||