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Base Frame Calibration

jwhite
jwhite ✭
in RobotStudio
We purchased a used IRB-640. Obviously when we mount it, the orientation will not be the same as the original user. It appears I need to define the Base Frame to set up my X, Y, Z directions to correspond to my layout. The book is a little unclear as to how this is done. Is that what I need to do and can someone explain the procedure a little better? Or can it be done by setting a work object instead, which is better explained in the book?

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  • ferosapien
    ferosapien ✭
    The orientation/position is defined using D-H parameters (google for more info).  It is defined in the MOC file.  Do you have a virtual station?  If so, the MOC file in the VC should be (close to) correct for the actual system.  If you are programming offline, it is crucial that your MOC file is correctly configured.

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