You can set up a maximum of 32 touch frames. Touch frames are set up using the touch frame screen in the SETUP menu.
Table 1. Touch Frame Setup Items
ITEM | DESCRIPTION |
---|---|
Frame Number |
This item specifies the number of the touch frame you want to define. |
Reference Group |
This item specifies the reference group to which
the touch frame is relative:
|
Robot Group |
This item specifies the motion group performing the search move and to which the offset is applied. When using DualARM or Multi-Robot systems this can be group 1 or 2. For single group systems this will always be 1. When using multi-arm simultaneous touch sensing, each touch process robot can define its own touch frame within the same touch frame number. |
Direct Entry | |
Rotate about X |
This item specifies the rotation about X for the touch frame. |
Rotate about Y |
This item specifies the rotation about Y for touch frame. |
Rotate about Z |
This item specifies the rotation about Z for touch frame. |
Teach Method | |
Origin |
This item allows you to record the origin of the touch frame. |
+X direction |
This item allows you to define the +X direction of the touch frame. |
+Y direction |
This item allows you to define the +Y direction of the touch frame. |