User Frame

A User Frame is a user defined coordinate system. User Frames make programming trajectories far more intuitive as the positions relate to the object of your choice.

User Frames can be created by 2 methods:

• 3 points teaching
• coordinates

Both methods use the same function block MLxRobotSetUserFrame.

A User Frames can be set on the fly during a trajectory. It is then added to the queue and apply to all subsequent motions.

Library components

Availability

Available on all robot and controller.

Parameters

N/A

Create a User Frame with 3 points teaching

Principle

This method is used when the User Frame must be related to a mechanical element or a workstation. It can be a pallet, a conveyor, …

It is especially useful for tilted planes or workstation misaligned with the WORLD frame.

However this method need a calibration tip mounted on the tool of the robot and the corresponding TCP must be taught. So this method takes more time to implement but provides an accurate UserFrame.

Implementation

3 points are required. Their coordinates must be written in the MLxAppDataUserFrame data structure.

• Origin is the origin of the User Frame
• XX gives the X direction
• XY gives the XY plane orientation

The MLxAppDataUserFrame data structure is then passed as an input to the MLxRobotSetUserFrame function block to create the User Frame.

Example

UserFrames : ARRAY[0..0] OF MLxAppDataUserFrame;
FB_MLxRobotSetUserFrame : ARRAY[0..0] OF MLxRobotSetUserFrame;

UserFrames[0].UserFrameType := 1;      // Use 3 points teaching

UserFrames[0].Origin[0] := 400;        // ORG X
UserFrames[0].Origin[1] := 100;        // ORG Y
UserFrames[0].Origin[2] := 300;        // ORG Z

UserFrames[0].XX[0] := 600;            // XX X
UserFrames[0].XX[1] := 100;            // XX Y
UserFrames[0].XX[2] := 450;            // XX Z

UserFrames[0].XY[0] := 450;            // XY X
UserFrames[0].XY[1] := 300;            // XY Y
UserFrames[0].XY[2] := 350;            // XY Z

FB_MLxRobotSetUserFrame.RobotNumber                 := 0;
FB_MLxRobotSetUserFrame.UserFrameNumber             := 0;
FB_MLxRobotSetUserFrame.UserFrameData               := UserFrames[0];
FB_MLxRobotSetUserFrame[0]( MLX := dummy, );

Create a User Frame with coordinates

Principle

This method is used when a User Frame is calculated.

This method is fast to implement as it does not need any hardware and only requires internal calculations. It is useful for calculating a pick and place trajectory and for shifting an already set User Frame. Moreover, calculation and setting of a User Frame can be done on the fly during a trajectory.

However the result may be misaligned with the workstation as no calibration with the mechanical environment is needed.

Implementation

Origin coordinates and orientation [X,Y,Z,Rx,Ry,Rz] are expressed in the WORLD frame. They must be passed to the MLxAppDataUserFrame.CoordFrame[] data structure.

The MLxAppDataUserFrame data structure is then passed as an input to the MLxRobotSetUserFrame function block to create the User Frame.

Example

UserFrames : ARRAY[0..0] OF MLxAppDataUserFrame;
FB_MLxRobotSetUserFrame : ARRAY[0..0] OF MLxRobotSetUserFrame;

UserFrames[0].UserFrameType                        := 0;

UserFrames[0].CoordFrame[0]                        := 350;     // X
UserFrames[0].CoordFrame[1]                        := 100;     // Y
UserFrames[0].CoordFrame[2]                        := 400;     // Z
UserFrames[0].CoordFrame[3]                        := 0;       // Rx
UserFrames[0].CoordFrame[4]                        := -30;     // Ry
UserFrames[0].CoordFrame[5]                        := 0;       // Rz

FB_MLxRobotSetUserFrame.RobotNumber                 := 0;
FB_MLxRobotSetUserFrame.UserFrameNumber             := 1;
FB_MLxRobotSetUserFrame.UserFrameData               := UserFrames[0];
FB_MLxRobotSetUserFrame[0]( MLX := dummy, );

Using User Frames with the Teach Pendant

Unlike tools, User Frames are not written in the Yaskawa controller. Hence, it is not visible on the teach pendant in menu ROBOT » USER COORDINATE. Neither it is possible to jog in these User Frames using the Teach Pendant.

However it is possible to write User Frames previously set by MLxRobotSetUserFrame in the Yaskawa controller using MLxWriteApplicationDataToYRC.

In that case, User Frames 0 will be written in UF#1 of the Teach Pendant. User Frames of the teach pendant range from UF#1 to UF#64, meaning that MotoLogix UserFrameNumber parameter must not exceed 63.