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
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
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)
| 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.
The world frame is the default for your robot. The zero point for X, Y, and Z is the center of the robot's base.
In user frames, the coordinates you work with start at a user-defined position.
Three-Point Method
World Frame
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.
User Frame
Tool FrameA
Jog Frame
