Editing The Work Object Data - ABB OmniCore S Series Operating Manual

6 Programming and testing

6.7.6 Editing the work object data

6.7.6 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
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 following guide.
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
142
1 On the start screen, tap Calibrate, and then select Workobject from the
menu.
2 Tap the work object you want to edit.
The Edit Workobject dialog is displayed.
3 Tap Value.
The data that defines the work object appears.
4 Proceed with changing the data as described in
frame values manually on page 142
Note
Editing work object data can also be done from the Code window.
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and then tap Save.
Defining the work object coordinate system on page
How to set user and object
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
Operating manual - OmniCore
3HAC065036-001 Revision: E
138.