Editing The Work Object Data - ABB IRC5 with FlexPendant Operating Manual

5.6.4 Editing the work object data

Overview
Use the work object data definition to set the position and rotation of the user and
object frames.
How to display the work object data
1
2
3
4
How to set user and object frame values manually
The easiest way to set the work object and user coordinate systems position is to
use the method described in
You can however edit the values manually using the guide below.
Values
The cartesian coordinates of the position of the object
frame
The object frame orientation
The cartesian coordinates of the position of the user
frame
The user frame orientation
Operating manual - IRC5 with FlexPendant
3HAC050941-001 Revision: G
Action
On the ABB menu, tap Jogging.
Tap Work object to display the list of available work objects.
Tap the work object you want to edit, then tap Edit.
Tap Change Value.
The data that defines the work object appears.
Note
Editing work object data can also be done from the Program Data window.
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5 Programming and testing
5.6.4 Editing the work object data
Defining the work object coordinate system on page
Instance Unit
mm
oframe.trans.x
oframe.trans.y
oframe.trans.z
-
oframe.rot.q1
oframe.rot.q2
oframe.rot.q3
oframe.rot.q4
mm
uframe.trans.x
uframe.trans.y
uframe.trans.z
-
uframe.rot.q1
uframe.rot.q2
uframe.rot.q3
uframe.rot.q4
193.
197