This How-to video is for Schneider and non Schneider robots.
The video is organized in three parts.
Part one, how to modify coordinate system for Linear motion, STS robots and Non Schneider robots.
Before starting, to better understand the notion of coordinates, let's look at the Portal robot's markers.
The "TCP" for Tool Center Point.
The "CSR" for Coordinate System Robot.
In this video, the Eco Struxure Machine Expert Software is used.
At first, we want to find the coordinate parameter of our robot in the project.
Open Init_Robot
Let's analyze the code that allows us to modify the coordinates of the CSR point.
Here we can (if needed): add offsets, change orientation, invert axes.
Here, the CSR point is modified with the ModifyCoordinateSystem method and the previous parameters.
Part two, how to modify coordinate for Lexium T and Lexium P robots.
Before starting, it's important to know the 3 markers for a delta robot.
The "MechRefPos" is the mechanical origin of the robot.
The "TCP" for Tool Center Point (fixed on the robot's plate).
The "CSR" for Coordinate System Robot.
At first, we want to find the coordinate parameter of our robot in the project.
Open Init_Robot
Now have a look to the Init page
We can find the call of our robot (in our case it's a P_Series)
Go to definition
A Schneider Delta Robot has a ModifyCoordinateSystem already implemented.
Before modifying the coordinates, it's necessary to get the CSR defined by Schneider for the robot, with the GetCoordinateSystem method.
Then we find the coordinates of our CSR point.
We find the coordinates of the Schneider robot (obtained with GetCoordinateSystem)
Here we can (if needed): add offsets, change orientation, invert axes.
Here, the CSR point is modified with the ModifyCoordinateSystem method and the previous parameters.
Part three, let's observe the influence of the parameters on the CSR point of the robot with two examples.
In this first example, a Y offset of 100mm is added to shift the CSR point.
In this second example, the orientation of the CSR point is changed by adding a 90° offset on the Z axis.