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13.12 Installation
Features
Actual freq.: The average frequency of client (master) signal status updates. This value is recal-
culated each time the signal receives a response from the server (or slave).
All counters count up to 65535, and then wrap back to 0.
13.12 Installation
The Feature, is a representation of an object that is defined with a name for future reference and
a six dimensional pose (position and orientation) relative to the robot base.
Some subparts of a robot program consist of movements executed relative to specific objects
other than the base of the Robot arm. These objects could be tables, other machines, workpieces,
conveyors, pallets, vision systems, blanks, or boundaries which exist in the surroundings of the
Robot arm. Two predefined features always exist for the robot. Each feature has its pose defined
by the configuration of the Robot arm itself:
• The Base feature is located with origin in the centre of the robot base (see figure 13.1)
• The Tool feature is located with origin in the centre of the current TCP (see figure
13.2)
User-defined features are positioned through a method that uses the current pose of the TCP
in the work area. This means the users can teach feature locations using Freedrive Mode or
"jogging" to move the robot to the desired pose.
Three different strategies exist (Point, Line and Plane) for defining a feature pose. The best
strategy for a given application depends on the type of object being used and the precision re-
quirements. In general a feature based on more input points (Line and Plane) is be preferred if
applicable to the specific object.
To accurately define the direction of a linear conveyor, define two points of a Line feature with
Version 3.11
Features
II-51
e-Series
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