Contents
  1. I. Introduction to WorkObject Coordinates
  2. II. Setting WorkObject Coordinates Using the 3-Point Method
  3. III. Determining WorkObject Coordinates on a Physical System
  4. IV. Changing the WorkObject Used in a Program

I. Introduction to WorkObject Coordinates

Create a Cartesian coordinate system at any position and orientation on the target workbench; this is called a WorkObject coordinate system. By creating WorkObject coordinate systems at different locations, the same program can perform the same process at those different locations.

II. Setting WorkObject Coordinates Using the 3-Point Method

  1. Go to Jogging - WorkObject - New and create a WorkObject II. Setting WorkObject Coordinates Using the 3-Point Method II. Setting WorkObject Coordinates Using the 3-Point Method (2)
  2. Select the newly created WorkObject, tap Edit - Define, and set User method to 3 points II. Setting WorkObject Coordinates Using the 3-Point Method (3) II. Setting WorkObject Coordinates Using the 3-Point Method (4)
  3. Suppose you want to create the coordinate system shown below II. Setting WorkObject Coordinates Using the 3-Point Method (5)
  4. In the simulation, select Home - Other - Create WorkObject. Under User Frame, select Frame by points, then select three points to create the coordinate system. II. Setting WorkObject Coordinates Using the 3-Point Method (6) II. Setting WorkObject Coordinates Using the 3-Point Method (7)

III. Determining WorkObject Coordinates on a Physical System

When operating a physical robot system, you can select a workpiece with a pointed tip, jog it to align with the three points to be determined, and record them to set the WorkObject coordinates.

  1. Add a tool with a pointed tip for determining the target point coordinates. Add the tool to the robot system and hide the gripper tool used previously. III. Determining WorkObject Coordinates on a Physical System III. Determining WorkObject Coordinates on a Physical System (2) III. Determining WorkObject Coordinates on a Physical System (3)

  2. Follow the first two steps under Setting WorkObject Coordinates Using the Three-Point Method above. Set three positions in the warehouse as X1, X2, and Y1, respectively, to determine the WorkObject coordinate system. When finished, tap OK. III. Determining WorkObject Coordinates on a Physical System (4) III. Determining WorkObject Coordinates on a Physical System (5) III. Determining WorkObject Coordinates on a Physical System (6)

  3. Likewise, a WorkObject coordinate system can also be created on the workbench III. Determining WorkObject Coordinates on a Physical System (7) III. Determining WorkObject Coordinates on a Physical System (8) III. Determining WorkObject Coordinates on a Physical System (9)

  4. Delete the tool (Pen) just added for determining the positions, and make the gripper visible

IV. Changing the WorkObject Used in a Program

Assign the warehouse WorkObject to the motions that pick up a workpiece in the warehouse, the workbench WorkObject to the motions that place it on the workbench, and the default WorkObject to all other motions.

  1. Take the motion at pPickUP as an example. Step through the program. When it reaches pPickUP, tap the entire instruction, then tap Optional Arguments—[\WObj]—Use IV. Changing the WorkObject Used in a Program IV. Changing the WorkObject Used in a Program (2)
  2. Tap wobj0, select wobj_CK, and tap OK IV. Changing the WorkObject Used in a Program (3)
  3. Return to Jogging, tap WorkObject, and select wobj_CK IV. Changing the WorkObject Used in a Program (4) IV. Changing the WorkObject Used in a Program (5)
  4. Return to the Program Editor, select the statement you just edited, and tap Modify Position.