TOUCH FRAME SETUP SCREEN


TOUCH FRAME SETUP SCREEN

Note

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:
  • 0: There is no reference group and no leader group; touch frame is relative to the robot itself.

  • 1 : Touch frame is relative to the UFRAME of the robot (follower)

  • 2 : Touch frame is relative to the coordinated frame of robot group 2 (leader) **

  • 3 : Touch frame is relative to the coordinated frame of robot group 3 (leader) **, ***

  • 4 : Touch frame is relative to the coordinated frame of robot group 4 (leader) **

  • 5 : Touch frame is relative to the coordinated frame of robot group 5 (leader)** The coordinated frame is established between a positioner/robot (leader) and a robot (follower) motion group. Refer to the Coordinated Motion Setup and Operations Manual.

    *** In the case of DualARM systems with Touch Sensing, standard Touch Sensing for group 2 robot references group 2.

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.