World coordinate system - how does it work in FANUC ?

hi guys and welcome to the next video in a previous video we spoke a little bit about jogging the robot using in the joint movement and I said we're going to cover using the frames in the next video so here we are but before we start there are a few things I wanted to tell you regarding the frames so in most of the cases robot will have three frames that you can jog in the word frame to frame and user frame or base frame or order naming depending on the robot breath they work however the same so for you to understand how the frames are working I made a short presentation so you can figure stuff out so what can I say let's get started ok here yeah the presentation what I meant I think we need to go back in time a little bit probably to your high school times and for you to understand how frames are working you need to know what is a Cartesian coordinate system I do believe that you remember from school the 2d Cartesian coordinate system and it has to access the x axis and the y axis and there is a point located somewhere on that system and for you to find it coordinates you were moving counting the lines on the x axis counting the line on the y axis and you got the point coordinates correct yep and with the robot if the same thing the only difference is that we use 3d Cartesian coordinate system how does it work like this you have the 3d Cartesian coordinate system you have the same the x axis the y axis and the z axis so right now you have the first coordinate which is the Z and how do you calculate the points the same way you count X you count why you count that and you get your point coordinates what's extra in the robots there are angles that you need to know about to know the exact position but I don't want to go into details of that right now I will explain that when I will show you the example I'm sure you will figure it out but just so you know the angles mean if the point is twisted actually the vector is twisted around the x axis the y axis are the z axis but I explain that a little bit later for now we're going to talk about the word frame which is the basic frame for all of the robots it's always located this is at the same place it always looks the same okay what if we have the robots mounted on the wall or upside down on a ceiling what about that this is going to be the same we'll see watch the video I'm going to answer that question to that question later so let's get started with fun of robots let's go okay the fun of robots so the first thing we're going to talk about is something called the right hand rule and that's the rule I want you to remember whenever somebody will ask you about if that's going to be middle of the night if that's going to be at the bar if that's going to get a customer side you gotta know it because that's the basic for robot systems and for using the robots that's the thing that we're going to save you whenever you to joke the robot and you don't know what's going on because you just came to the place or we never seen that robot before or whatever it's a golden rule it applies to all of the coordinate system and all of the robot types so let's get to it so what do I mean by the right hand rule so remember the coordinate system I we talked about lab it earlier it has the X Y and z-axis correct okay so you're going to use your right hand to determinate whether or not the that position of the x-axis is straight left up or in whatever else direction so we spoke about the world coordinate system and I said that it's always located disabled well I mean I ask you is it what if the robot is going to be mounted on a wall or on the ceiling for fun or grobotz the world coordinate system never changes so doesn't matter where the robot is mounted the world coordinate system will always stay the same you will ask me where is it located so stand behind the robots or next to the robot and take a look at the robot base and the world coordinate system is located at the robot base and to be more exact it is located when you have the middle of the axis one and motors and axis two on the intersection of those two that's where your word system is located so now take your hand and you want to put that coordinate system that 3d coordinate system over there so take your right hand put it like this and right now that finger is going to point into the X positive direction that finger is going to point into Y positive direction and those finger points into that positive direction so remember that because we're going to use that for jogging so now you know whenever you come to the robots and somebody will ask you to move it you know you're going to choose the word coordinate system and jog using that system okay so let's see how that works on the robots so I'm music again the Robo kite if you guys have the real robots is the same thing there is not much of a difference so let's turn on your robots let's turn on your teach pendants resset the folds hold the Deadman switch resset the folds and let's try to jog the robot so first of all like always change your coordinate system two words got it okay I just your speed don't do you want you don't want to move too fast got it 25% for me is a good choice for start okay so now you wanna know how the robot will move right so take your hands and you know that that's X Y and that right yep now take a look at the teach pendants there are keys called X plus X minus y plus by minus Z plus side - and then there is rotation around XYZ so what does it mean that means when you hit the X plus the robot is going to move into in a straight line forward if you're going to hit the Y plus the robot is going to move left in a straight line and when you hit the Z plus the ruble is going to move up in a straight line can you see the difference between the joint coordinates jogging in a joint coordinate system and using the frames the word frame so when we are using the joint we were moving axis by axis and the end effector or the flange was moving you cannot predict it really right now you imagine that you are like at the flange and you're moving or at the end of the arm - link and you will move that always in a straight line that's the main difference between jogging using the joint movements and jogging using the friends it's like with drinking a coffee it is much easier for you to move all axes at the same time in a straight line then going using the joint movements one by one correct so that's the main difference ad that's something you need to remember when you use the frames you will always move according to the coordinate system according to X Y & Z when you are using joints you will always move joint by joint I hope you get it if not let me down know let me know down in the comments that you don't know what I'm talking about I'll try to explain more okay moving further so now you know how the XYZ is working correct so what about the rotation stuff you have those x y&z buttons located a little bit below the XYZ buttons the one have the arrow around it so that's rotating around the axis and what does it mean how do you know that you're rotating around the axis so as you can see the names are the same so you can rotate the round axis x axis Y and X is that okay so when you hit when you want to rotate around axis X that means you want to rotate like this but how do you know if it's platinum or minus with the regular axis is easy because it's B notice the touch the plus direction does the plus direction and does the plus direction what about the rotation there is also the way to know remember the right control so stay tuned take your right hand grab it like this with the thumb pointing up and now imagine those are the arrows on your T spaniard key now if you want to know which way is positive which way is negative just point your thumb in the axis you want a joke so we want to jog the x axis and you wanna move positive does the arrow showing the positive direction so when you jog into the x+ that's how I was going to move when you move negative it's going to move the other way what about the y-axis the same thing y-axis thump y-axis y plus y minus and is that I think we can follow right relax is your thumb positive negative pretty easy it is easy here I'll say okay so now we'll practice a little bit more try to drop the robot in all of the direction try to draw draw it's X plus X minus remember the right-hand rule because it will apply to the other coordinate systems that we'll talk about a little bit later on because for now I want you to remember that the world coordinate system is always located at the robot base this is your base system it never changes so if you get to the robots any of the robots you will always jog it the same in Sonic second thing remember about your right hand rule because that's the way you're going to define each frame coordinate system and the third thing remember about finding the direction for rolling around the axis okay I hope you liked that video if so don't forget to subscribe thumbs up and see you in the next video bye-bye

Channel: Future Robotics

Views: 9,698

Keywords: WORLD, coordinate system, robotics, fanuc, right hand rule, robotic coordinate system, automotive, how to, advanced programming, automation, fanuc setup, fanuc roboguide, fanuc robot, fanuc robot certification, fanuc robot exam, fanuc tutorial, industrial robot, robot setup, robotics training, roboguide, curso de robotica, robot, robot jogging, robot logic, robot programming, tutorial, robot training, robotguide, teach pendant, teach pendant fanuc, teach pendant programming

Id: m1TN62aANN4

Length: 12min 51sec (771 seconds)

Published: Thu May 14 2020