Changing Task Frames

SteveMob

Hello,

I am working on trying to change the base frame (or origin of the targets) to where the (0, 0, 0) is actually up in space (400, 0, 600 in reference to the origin at the base of the robot) instead of at the center of the base of the robot. Is there a easy way to do this?

I found a way to kind of modify the task frame, but every time I update the virtual controller with the robot or whatever, it moves the robot to where the (0, 0, 0) is still the base of the robot. Any ideas on how I can make (400, 0, 600) actually the origin for targets (0, 0, 0) without moving the robot base?

Thanks for any help,
SM

SteveMob

So I got the task frame where I need it, with the orientation how I need it, and the robot base remained stationary.

I guess kind of a follow up question. I moved the task frame to (20, 0, 25) inches away from the base frame, and rotated it to where it lined up with the robot's default TCP. So now I go into RAPID and create a target: CONST robtarget Target_10:=[[0,0,0],[1,0,0,0],[0,0,0,0],[9E9,9E9,9E9,9E9,9E9,9E9]];
The target is at (0, 0, 0) in reference to the task frame, but the orientation is all messed up. I need it to be oriented like the task frame, which is oriented with the robot's default TCP. So now I have to go to all the targets and manual reorient them, but is there a way to make them automatically oriented with the Task Frame?

Thanks for any help!
SM

PerSvensson

The task frame is just a graphical coordinate system, doesn't exist in the real robot, to be able to calculate workobjects and targets if you move the robot from the graphical 0 point. So the best solution is to position the robot(graphical) and say yes that you want to move the task frame with the robot. You can compare this to moving the robot in the real world.

SteveMob

Per,
Thanks for the reply. I set the task frame to where I needed it to be in RobotStudio. Then on the real controller, I just went into Configuration>>Motion>>Robot and then copied everything from the virtual controller and put it on the real controller. Pretty much the only thing that changed was the base frame and quaternion stuff. It worked perfectly after that.

Thanks for the help!
SM