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3.

GENERAL SETUP
3.1 FRAMES SETUP
3.1.1 Frames Setup Overview
A frame is a set of three planes at right angles to each other. The point where all three planes intersect is the
origin of the frame. This set of planes is called a Cartesian coordinate system. In the robot system, the
intersecting edges of the planes are the x, y, and z axes of the frame.
Note
If you are using PalletTool, your gripper might be set up
differently than the one shown in the illustrations in this
section. The orientation of the gripper depends on how the
pneumatics of the gripper are set up. For example, if you are
palletizing very large boxes, your gripper might be mounted
perpendicularly to what is shown in the illustrations.
Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
If you are using DispenseTool, refer to the Line Tracking Setup and Operations Manual for more
information about setting up line tracking encoders and the line tracking frames for use with the Line
Tracking option. However, in the Advanced Techniques chapter of the Line Tracking Setup and Operations
Manual, do not use the section on Tracking Part Queues. Instead, refer to the section "Editing the Job
Queue."
How Frames are Used
Frames are used to describe the location and orientation of a position. The location is the distance in the x, y,
and z directions from the origin of the reference frame. The orientation is the rotation about the x, y, and z
axes of the reference frame. When you record a position, its location and orientation are automatically
recorded as x, y, z, w, p, and r relative to the origin of the frame it uses as a reference.
The location of a position is expressed as three dimensions, which are measured in millimeters from the
origin in the x, y, and z directions. For example, 300,425,25 means the position is 300mm in the x direction,
425mm in the y direction, and 25mm in the z direction from the origin.
The orientation of a position is expressed as three dimensions, which are measured in degrees of rotation
about the x, y, and z axes. For example, 0,-90,0 means that the position is rotated -90 degrees about the y
axis and is not rotated about the x or z axes.
Kinds of Frames
The robot uses four kinds of frames. The different kinds of frames make it easier to perform certain tasks.
The kinds of frames are


World frame - the default frame of the robot

Tool frame - a user-defined frame

User frame - a user-defined frame

Jog frame - a user-defined frame

World Frame
The world frame is a default frame that cannot be changed. The origin of the world frame (0,0,0,0,0,0) is the
reference position for user frame and jog frame. The origin is located at a predefined position within the
robot.
See Figure 3.1 World Frame for an example. Your robot might be different depending on your system.
Figure 3.1 World Frame

Tool Frame
The default tool frame is a Cartesian coordinate system that has the position of the tool center point (TCP) at
its origin. When you set up a UTool, you move the default UTool from the robot faceplate to the point on the
applicator, gun, torch, or tool at which the painting, welding, sealing, handling, or other application work is to
be done.
User Frame
The user frame is the reference frame for all recorded positional data in a program. You can modify the user
frame to offset the positions in the program easily. You can define this frame anywhere.
Caution
Every time you create a program, set the current
user frame number to a value between 1 and 6. Do
this even if you do not plan to use a user frame in
the program, or if you want the user frame position
to be zero (0, 0, 0, 0, 0, 0). Otherwise, if the current

user frame number is zero, a user frame set in that


program will not work.
Remote TCP (RTCP) Frame (HandlingTool, DispenseTool, and SpotTool+ only)
The remote TCP (RTCP) frame is a kind of user frame you must define in order to use remote TCP jogging
and the remote TCP motion option. You define this frame using the location of the remote TCP as the origin
of the frame.
Jog Frame
The jog frame is a frame in which to jog easily. It allows you to align the x, y, z coordinate system about a
fixture or workpiece that is rotated with respect to the world frame of the robot.
Moving the Location and Orientation of a Frame
You can move the location and orientation of any frame except the world frame. When you move the location
or orientation of a frame, all positions recorded with that frame also move. However, the location of those
positions will stay the same within that frame.
See Figure 3.2 Moving a Frame for the default location of the user frame.
Figure 3.2 Moving a Frame

Caution
If you change anyTOOL or USER frame data after a
program has been taught, you must reteach each
program position or range. If you do not, damage
could occur to the equipment.

3.1.2 Tool Frame

3.1.2.1 Setting Up Tool Frame


By default, the origin of the tool frame is on the faceplate of the robot. You must move the origin of the tool
frame to the position, both location and orientation, where the work is to be done. This position is called
thetool center point (TCP) .
For example,in ArcTool, the TCP is the tip of the wire; in PaintTool, the TCP is approximately 12 inches
from the end of the applicator, but this can vary depending on your particular applicator;in SpotTool+, the
TCP is where the tips of the gun meet when they are closed.
See Figure 3.3 HandlingTool Tool Frame .
All measurements in tool frame are relative to the origin of the tool frame.


Before you use tool frame, you must set up its location and orientation.
For the KAREL robot commands MOVE NEAR and MOVE RELATIVE, the z-axis of the tool frame is
the approach vector of the tool. That is, the z-axis defines the path the tool will take as it approaches
the workpiece.
You can set up as many as tendifferent tool frames for each robot. They will be stored in the system
variable $MNUTOOL.
You can select one tool frame to be active. The frame number will be stored in the system variable
$MNUTOOLNUM.

In ArcTool, the weave plane is relative (perpendicular) to tool z.

You can jog the robot in tool frame.


Figure 3.3 HandlingTool Tool Frame

Figure 3.4 ArcTool Tool Frame

Figure 3.5 DispenseTool Tool Frame

Figure 3.6 P-200E Tool Frame

Figure 3.7 SpotTool+ Tool Frame

Warning
If you are using weaving, Thru-Arc Seam Tracking
(TAST), coordinated motion, or TorchMate, you
must define a six point tool frame by the six point
method or the direct entry method. Failure to do so
could injure personnel or damage equipment.
If a system uses different end-of-arm-tooling (EOAT), each tool will need a different tool frame. By setting up
a different tool frame for each tool, the existing program points will be valid, regardless of the tool used.
Table 3.1 Tool Frame Setup Screen Items lists the tool frame setup items and function key operations.
Table 3.1 Tool Frame Setup Screen Items
ITEMS
DESCRIPTION
Tool Frame Setup/xxxx This line shows the current selected method for setting each tool frame.

Frame number 1-10


X
Y
Z
Comment
Active TOOL
$MNUTOOLNUM[1] =
1
[TYPE]
DETAIL
OTHER
CLEAR

SETIND

These lines show the current position and comment for each available tool frame.
This column shows the coordinate of each tool frame.
This column show the coordinate of each tool frame.
This column show the coordinate of each tool frame.
This column shows the comment for each tool frame.
This line indicates which tool frame is currently selected for use.
Press this key to access various application-specific options.
Press this key to display detailed information for each tool frame and to set the
definition and comment of each tool frame.
Press this key to select one of the other available reference frames or to choose
the motion group for the frame you are setting up (in systems with multiple motion
groups).
To set the numerical values of any tool frame to zero, move the cursor to the frame
number, press CLEAR and answer YES to the prompt.
To select the tool frame to use, press F5, SETIND, type the number of the tool
frame you want, and press ENTER. This sets the active tool frame
($MNUTOOLNUM[1]) to the number of the frame you want. If F5, SETIND, is not
displayed, press PREV.

You can use the following methods to define the tool frame:


Three point method

Six point method

Direct entry method


Note
If you have a 4-axis robot, you can define a tool frame using
only the direct entry method.

Three Point Method

Use the three point method to define thelocation of the tool frame when the values cannot be measured and
directly entered. The three approach points must be taught with the tool touching a common point from three
different approach directions. Do not use this method to set up the P-10 opener.
Note
The three point method of defining the tool frame always
places the +z direction of the frame outward from the
faceplate. You cannot use this method to define the tool
frame for weaving, Thru-Arc Seam Tracking, or touch sensing
if you are using ArcTool.
Table 3.2 Tool Frame Setup Three Point DETAIL Screen Items
ITEMS

DESCRIPTION

Frame number
X, Y, Z, W, P, R
Comment
Approach point 1
Approach point 2
Approach point 3
Active TOOL
$MNUTOOLNUM[1] = 1
[TYPE]
[METHOD]
[FRAME]
MOVE_TO
RECORD

This line shows the number of the tool frame being defined.
These items show the current coordinates of the tool frame being defined.
This item is used to add a comment.
This item is used to define the first approach point.
This item is used to define the second approach point.
This item is used to define the third approach point.
This line indicates which tool frame is currently selected for use.
Press this key to access various application-specific options.
Press this key to select a method of entry.
Press this key to select a frame.
Press this key to move to a recorded position. Move the cursor to the desired
point and press MOVE_TO along with the SHIFT key.
Press this key along with the SHIFT key to record a position.

Six Point Method

Use the six point method to define thelocation and orientation of the tool frame when the values cannot be
measured and directly entered. The six point method requires three points that define the direction vector for
the tool, and three points that define the location of the tool center point.
Table 3.3 Tool Frame Setup Six Point DETAIL Screen Items
ITEM
Frame number
X, Y, Z, W, P, R
Comment
Approach point 1
Approach point 2
Approach point 3
Orient Origin Point
X Direction Point
Z Direction Point
Active TOOL
$MNUTOOLNUM[1] = 1
[TYPE]
[METHOD]
[FRAME]
MOVE_TO
RECORD

DESCRIPTION
This line shows the number of the tool frame being defined.
These items show the current coordinates of the tool frame being defined.
This item is used to add a comment.
This item is used to define the first approach point.
This item is used to define the second approach point.
This item is used to define the third approach point.
This item is used to define the reference point of the user frame.
This item is used to define the +x direction point.
This item is used to define the +z direction point
This line indicates which tool frame is currently selected for use.
Press this key to access various application-specific options.
Press this key to select a method of entry.
Press this key to select a frame.
Press this key to move to a recorded position. Move the cursor to the desired
point and press MOVE_TO along with the SHIFT key.
Press this key along with the SHIFT key to record a position.

Direct Entry Method

The direct entry method provides for direct recording and numerical entry of the frame position. For TCP
dimensions, refer to the manufacturing specifications of the tool. Use Procedure 3.3 Setting Up Tool Frame

Using the Direct Entry Method to set up the tool frame using the direct entry method.
Table 3.4 Tool Frame Setup Direct Entry DETAIL Screen Items
ITEM
Frame number
Comment

DESCRIPTION
This line shows the number of the tool frame being defined.
This item is used to add a comment.

X
Y
Z
W
P
R
Configuration
Active TOOL $MNUTOOLNUM[1] = 1
[TYPE]
[METHOD]
[FRAME]

This item is used to define the X component of the tool frame.


This item is used to define the Y component of the tool frame.
This item is used to define the Z component of the tool frame.
This item is used to define the W component of the tool frame.
This item is used to define the P component of the tool frame.
This item is used to define the R component of the tool frame.
This line displays the current robot configuration.
This line indicates which tool frame is currently selected for use.
Press this key to access various application-specific options.
Press this key to select a method of entry.
Press this key to select a frame.

3.1.2.2 HandlingTool Tool Frame Three Point Method


Use Procedure 3.4 Selecting a Tool Frame to set up a tool frame using the three point method.
Procedure 3.1 Setting Up Tool Frame Using the Three Point Method
Warning
If you set up a new frame, make sure that all frame
data is zero or uninitialized before you record any
positions. Press F4, CLEAR, to clear frame data.
If you modify an existing frame, make sure that all
frame data is set the way you want before you
change it.
Otherwise, you could injure personnel or damage
equipment.
Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
Note
If you have a 4-axis robot (such as an A-520i or M410iHS/iHW), you can define a tool frame using only the
direct entry method.

Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. To choose the motion group for the frame you are setting up in systems with multiple motion groups,
press F3, [OTHER], and select the group you want. The default motion group is Group 1.
6. If tool frames are not displayed, press F3, [OTHER], and select Tool Frame. If F3, [OTHER], is not
displayed, press PREV.
7. To display the settings for all frames, press PREV repeatedly until you see a screen similar to the
following.
SETUP Frames
Tool Frame Setup / Three Point
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active TOOL $MNUTOOLNUM[1]=1

Note
The maximum number of tool frames is set in the system
variable $SCR.$MAXNUMUTOOL. Refer to the Software
Reference Manual for more information.
8. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and
then press F4, YES, to confirm.
Warning
Do not run a KAREL program that includes motion
statements if more than one motion group is defined
on your controller. If your controller is set up for
more than one motion group, all motion must be
initiated from a teach pendant program. Otherwise,
the robot could move unexpectedly, personnel could
be injured, and equipment could be damaged.
9. Press F2, DETAIL.
10. To select a frame,
a. Press F3, FRAME.

b. Type the desired frame number.


c. Press ENTER.
11. Press F2, [METHOD].
12. Select Three Point. You will see a screen similar to the following.
SETUP Frames
Tool Frame Setup / Three Point
Frame Number: 1
X: 0.0
Y: 0.0
Z: 0.0
W: 0.0
P: 0.0
R: 0.0
Comment: ****************
Approach point 1:
UNINIT
Approach point 2:
UNINIT
Approach point 3:
UNINIT
Active TOOL $MNUTOOLNUM[1]=1

13. To add a comment:


a. Move the cursor to the comment line and press ENTER.
b. Select a method of naming the comment.
c. Press the appropriate function keys to enter the comment.
d. When you are finished, press ENTER.
Note
Record the three approach points with the tool tip touching
the same point from three different approach directions.
14. Record the first approach point (Approach Point 1):

a. Move the cursor to Approach point 1.


b. Jog the robot so that the tool tip touches a reference point.
c. Press and hold the SHIFT key and press F5, RECORD.
15. Record the second approach point (Approach Point 2):

a. Move the cursor to Approach point 2.


b. Rotate the faceplate at least 90 (but no more than 360) about the z axis of the tool coordinates.
c. Jog the robot so that the tool tip touches the reference point used in Step 14 .
d. Press and hold the SHIFT key and press F5, RECORD.
16. Record the third approach point (Approach Point 3):

a. Move the cursor to Approach point 3.


b. Rotate the tool about either the x or y axis of the tool coordinates.
c. Jog the robot so that the tool tip touches the reference point used in Step 14 .
d. Press and hold the SHIFT key and press F5, RECORD.
17. To select the tool frame to use, press F5, SETIND, type the number of the tool frame you want, and
press ENTER. If F5, SETIND, is not displayed, press PREV.
-ORUse the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Tool, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.
18. Jog the robot in the frame you just taught.

If the TCP is correct, it will remain stationary during rotational moves. Go to Step 20 .
Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is
altered, you will have no record of it.

If the TCP is not correct, it will not remain stationary during rotational moves. You need to review
your recorded positions. If they are not correct, re-record them correctly. Go to Step 19 .
Warning
When you use F4, MOVE_TO, to move the robot,
unexpected motion can occur. This could injure
personnel or damage equipment.

19. To move to a recorded position, move the cursor to the desired position, press and hold the SHIFT
key and press F4, MOVE_TO.
20. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].
d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the tool frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
Display the SYSTEM Variables menu,
k. Press MENUS.
l. Select SYSTEM.
m. Press F1, [TYPE].
n. Select Variables.

o. Press FCTN.
p. Select SAVE. The tool frame positions and system variables are saved in the SYSVAR.SV file, on
the default device.
3.1.2.3 HandlingTool Tool Frame Six Point Method
Procedure 3.2 Setting Up Tool Frame Using the Six Point Method
Warning
If you set up a new frame, make sure that all frame
data is zero or uninitialized before you record any
positions. Press F4, CLEAR, to clear frame data.
If you modify an existing frame, make sure that all
frame data is set the way you want before you
change it.
Otherwise, you could injure personnel or damage
equipment.
Note
If you have a 4-axis robot (such as an A-520i or M410iHS/iHW), you can define a tool frame using only the
direct entry method.
Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. To choose the motion group for the frame you are setting up in systems with multiple motion groups
press F3, [OTHER], and select the group you want. The default motion group is Group 1.
6. If tool frames are not displayed, press F3, [OTHER], and select Tool Frame. If F3, [OTHER], is not
displayed, press PREV.
7. To display the settings for all the frames, press PREV repeatedly until you see a screen similar to
the following.
SETUP Frames
Tool Frame Setup / Six Point
X
Y
Z
Comment
1:
0.0
0.0
0.0
*************
2:
0.0
0.0
0.0
*************
3:
0.0
0.0
0.0
*************
4:
0.0
0.0
0.0
*************
5:
0.0
0.0
0.0
*************
6:
0.0
0.0
0.0
*************
7:
0.0
0.0
0.0
*************

8:
0.0
0.0
0.0
*************
9:
0.0
0.0
0.0
*************
Active TOOL $MNUTOOLNUM[1]=1

Note
The maximum number of tool frames is set in the system
variable $SCR.$MAXNUMUTOOL. Refer to the Software
Reference Manual for more information.
8. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and
then press F4, YES, to confirm.
Warning
Do not run a KAREL program that includes motion
statements if more than one motion group is defined
on your controller. If your controller is set up for
more than one motion group, all motion must be
initiated from a teach pendant program. Otherwise,
the robot could move unexpectedly, personnel could
be injured, and equipment could be damaged.
9. Press F2, DETAIL.
10. To select a frame,
a. Press F3, FRAME.
b. Type the desired frame number.
c. Press ENTER.
11. Press F2, [METHOD].
12. Select Six Point. You will see a screen similar to the following.
SETUP Frames
Tool Frame Setup/ Six Point
Frame Number: 1
X:
0.0
Y: 0.0
Z:
W:
0.0
P: 0.0
R:
Comment: ****************
Approach point 1: UNINIT
Approach point 2: UNINIT
Approach point 3: UNINIT
Orient Origin Point: UNINIT
X Direction Point: UNINIT
Z Direction Point: UNINIT
Active TOOL $MNUTOOLNUM[1]=1

0.0
0.0

13. To add a comment:


a. Move the cursor to the comment line and press ENTER.
b. Select a method of naming the comment.
c. Press the appropriate function keys to enter the comment.

d. When you are finished, press ENTER.


Note
Record the three approach points with the tool tip touching
the same point from three different approach directions. The
Tool frame will be inaccurate if the approach points face each
other.
14. Record the first approach point (Approach Point 1):

a. Move the cursor to Approach point 1.


b. Jog the robot so that the tool tip touches a reference point.
c. Press and hold the SHIFT key and press F5, RECORD.
15. Record the second approach point (Approach Point 2):

a. Move the cursor to Approach point 2.


b. Rotate the faceplate at least 90 (but no more than 180) about the z axis of the tool coordinates.
c. Jog the robot so that the tool tip touches the reference point used in Step 14 .
d. Press and hold the SHIFT key and press F5, RECORD.
16. Record the third approach point (Approach Point 3):

a. Move the cursor to Approach point 3.


b. Rotate the tool about either the x or y axis of the tool coordinates.
c. Jog the robot so that the tool tip touches the reference point used in Step 14 .
d. Press and hold the SHIFT key and press F5, RECORD.
17. Define the orientation of the origin (Orient Origin Point):
a. Move the cursor to Orient Origin Point.
b. Jog the robot so that the desired tool +z axis is parallel to the z axis of the world frame, pointing in
the -z direction. Make sure that the x axis of the tool is parallel to the x axis of the world frame.
See Figure 3.8 Defining the Orientation of the Origin .
c. Press and hold the SHIFT key and press F5, RECORD.
Figure 3.8 Defining the Orientation of the Origin

18. Define the +x direction point (X Direction Point):


a. Move the cursor to X Direction Point.

b. Change the jog coordinate system to WORLD.


c. Jog the robot so that the tool moves in the +x direction. For example, if the x axis of the tool is
aligned with the world x axis, jog in the +x direction.
Note
To assist you in moving the tool in the +x direction, move the
tool at least 250mm or more.
d. Press and hold the SHIFT key and press F5, RECORD.
19. Define the +z direction point (Z Direction Point) :
a. Move the cursor to Orient Origin Point.
b. Press and hold the SHIFT key and press F4, MOVE_TO, to move the robot to the Orient Origin
Point.
c. Move the cursor to Z Direction Point.
d. Jog the robot in the -z direction (of the world frame).
e. Press and hold the SHIFT key and press F5, RECORD.
20. To select the tool frame to use, press F5, SETIND, type the number of the tool frame you want, and
press ENTER. If F5, SETIND, is not displayed, press PREV.
-ORYou can also select the frame using the Jog Menu. Press and hold SHIFT and press COORD, move
the cursor to Tool, and type the number of the frame you want to select. Refer to Section 2.3.8 for more
information.
21. Jog the robot in the frame you just taught.


If the TCP is correct, it will remain stationary during rotational moves. Go to Step 23 .
Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is
altered, you will have no record of it.

If the TCP is not correct, it will not remain stationary during rotational moves. You need to review
your recorded positions. If they are not correct, re-record them correctly. Go to Step 22 .
Warning
When you use F4, MOVE_TO, to move the robot,
unexpected motion can occur. This could injure
personnel or damage equipment.

22. To move to a recorded position, press and hold the SHIFT key and press F4, MOVE_TO.
23. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].
d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the tool frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
Display the SYSTEM Variables menu,
k. Press MENUS.
l. Select SYSTEM.
m. Press F1, [TYPE].
n. Select Variables.
o. Press FCTN.
p. Select SAVE. The tool frame positions and system variables are saved in the SYSVAR.SV file, on
the default device.
3.1.2.4 Tool Frame Direct Entry Method
Procedure 3.3 Setting Up Tool Frame Using the Direct Entry Method
Warning
If you set up a new frame, make sure that all frame
data is zero or uninitialized before you record any
positions. Press F4, CLEAR, to clear frame data.
If you modify an existing frame, make sure that all
frame data is set the way you want before you
change it.

Otherwise, you could injure personnel or damage


equipment.
Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
Note
If you have a 4-axis robot (such as an A-520i or M410iHS/iHW), you can define a tool frame using only the
direct entry method.
Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. To choose the motion group for the frame you are setting up in systems with multiple motion groups
press F3, [OTHER], and select the group you want. The default motion group is Group 1.
6. If tool frames are not displayed press F3, [OTHER], and select Tool Frame. If F3, [OTHER], is not
displayed, press PREV.
7. To display the settings for all the frames, press PREV repeatedly until you see a screen similar to
the following.
SETUP Frames
Tool Frame Setup / Direct Entry
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active TOOL $MNUTOOLNUM[1]=1

Note
The maximum number of tool frames is set in the system
variable $SCR.$MAXNUMUTOOL. Refer to the Software
Reference Manual for more information.
8. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and
then press F4, YES, to confirm.

Warning
Do not run a KAREL program that includes motion
statements if more than one motion group is defined
on your controller. If your controller is set up for
more than one motion group, all motion must be
initiated from a teach pendant program. Otherwise,
the robot could move unexpectedly, personnel could
be injured, and equipment could be damaged.
9. Press F2, DETAIL.
10. To select a frame,
a. Press F3, FRAME.
b. Type the desired frame number.
c. Press ENTER.
11. Press F2, [METHOD].
12. Select Direct Entry. You will see a screen similar to the following.
SETUP Frames
Tool Frame Setup / Direct Entry
Frame Number: 1
1 Comment:
****************
2 X:
0.000
3 Y:
0.000
4 Z:
0.000
5 W:
0.000
6 P:
0.000
7 R:
0.000
Configuration:
N R D B, 0, 0, 0
Active TOOL $MNUTOOLNUM[1]=1

13. To add a comment:


a. Move the cursor to the comment line and press ENTER.
b. Select a method of naming the comment.
c. Press the appropriate function keys to enter the comment.
d. When you are finished, press ENTER.
14. Set each position component:
a. Move the cursor to the component.
b. Enter the numeric value for the component.
c. Press the ENTER key to set the new value.
15. To select the tool frame to use, press F5, SETIND, type the number of the tool frame you want, and
press ENTER. If F5, SETIND, is not displayed, press PREV.

-ORUse the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Tool, and type the
number of the frame you want to select. Refer to Section 2.3.8 for more information.
Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is
altered, you will have no record of it.
16. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].
d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the tool frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
17. To Display the SYSTEM Variables menu,
a. Press MENUS.
b. Select SYSTEM.
c. Press F1, [TYPE].
d. Select Variables.
e. Press FCTN.
f. Select SAVE. The tool frame positions and system variables are saved in the SYSVAR.SV file, on
the default device.
3.1.2.5 Selecting a Tool Frame
Procedure 3.4 Selecting a Tool Frame

Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
Note
You can also use the Jog Menu to select the number of the
tool frame you want to use. Refer to Section 2.3.8 .
Conditions


The tool frame you want to select has been set up.

Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. To choose the motion group for the frame you are setting up in systems with multiple motion groups
press F3, [OTHER], and select the group you want. The default motion group is Group 1.
Warning
Do not run a KAREL program that includes motion
statements if more than one motion group is defined
on your controller. If your controller is set up for
more than one motion group, all motion must be
initiated from a teach pendant program. Otherwise,
the robot could move unexpectedly, personnel could
be injured, and equipment could be damaged.
6. If tool frames are not displayed, press F3, [OTHER], and select Tool Frame. If F3, [OTHER], is not
displayed, press PREV. You will see a screen similar to the following.
SETUP Frames
Tool Frame Setup / Direct Entry
1/10
X
Y
Z
Comment
0.0
0.0
0.0 *********
****
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active TOOL $MNUTOOLNUM[1]=1

Note

The maximum number of tool frames is set in the system


variable $SCR.$MAXNUMUTOOL. Refer to the Software
Reference Manual for more information.
7. To select the tool frame to use, press F5, SETIND, type the number of the tool frame you want, and
press ENTER. If F5, SETIND, is not displayed, press PREV.
-ORUse the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Tool, and type the
number of the frame you want to select. Refer to Section 2.3.8 for more information.
8. When a position is recorded in the teach pendant program, the value of the positions tool frame will
always equal the value of $MNUTOOLNUM[group_no] at the time the position was recorded.
When a teach pendant program is executed, you must make sure that the tool frame of the position
equals the value of $MNUTOOLNUM [group_no], otherwise, an error will occur. Set the value of
$MNUTOOLNUM using the UTOOL_NUM=n instruction in the teach pendant program before you
record the position to guarantee that the tool frame numbers match during program execution.
Refer to Section 6.13 for more information on the UTOOL_NUM instruction.
9. To use a tool frame in a KAREL program, set $GROUP[group_no].$UTOOL=$MNUTOOL
[group_no,$MNUTOOL NUM[group_no]] before executing any motion.

3.1.3 User Frame


3.1.3.1 Setting Up User Frame
User frame is a frame that you can set up in any location, with any orientation. User frames are used so that
positions in a program can be recorded relative to the origin of the frame. All positions in a program are
automatically recorded in user frame. If you do not set up the location and orientation of the user frame
before you create a program, the user frame will be set by default to the world frame in the program.
Note
If you are using the remote TCP option, you must define a
user frame to be your remote TCP (RTCP) frame. Refer to
the Remote TCP Frame section.
Caution
Recorded positions and position registers are
affected by MNUFRAME, and MNUFRAME has an
affect during playback. If you change MNUFRAME,
any recorded positions and position registers will
also change.
Enabling $USEUFRAME

The system variable $USEUFRAME defines whether the current value of $MNUFRAMENUM[group_no] will
be assigned to the positions user frame when it is recorded or touched up.
Note

Changing the user frame number in one group does not


change the user frame number of other groups.
Caution
When $USEUFRAME=FALSE, the user frame
number is equal to 0 when you initially record
positions and touch them up, regardless of the value
of $MNUFRAMENUM[group_no].
When $USEUFRAME=TRUE, the positions user
frame number is equal to the user frame defined by
$MNUFRAMENUM[group_no] when you initially
record positions and touch them up. You must also
touch up positions with the positions user frame
equal to the user frame defined by
$MNUFRAMENUM[group_no].
Be sure to set the system variable $USEUFRAME
properly. Otherwise, your program will not operate
properly.
After you set up the user frame, you can change its location and orientation. Before you teach positions in a
frame that is to move, change $USEUFRAME to TRUE and record the positions. All positions in a program
recorded relative to that frame change with it. All positions are taught relative to the default user frame. Use
the UFRAME_NUM program instruction to change the user frame.


You can set up as many as ten user frames for each robot. They will be stored in the system variable
$MNUFRAME.
You can select one user frame per robot group to be active at a time. The frame number will be stored
in $MNUFRAMENUM.
You can jog the robot in user frame.
Caution
Each time you create a program, set the current
user frame number to a value between 1 and 9
( Procedure 3.8 Selecting a User Frame ). Do this
even if you do not plan to use a user frame in the
program, or if you want the user frame position to be
zero (0,0,0,0,0,0). Otherwise, if the current user
frame number is zero, a user frame set in that
program will not work.

See Figure 3.9 World and User Frames .


Table 3.5 User Frame Setup Screen Items
ITEM
User frame setup/xxxx

DESCRIPTION
This line shows the current selected method for setting each user frame.

Frame number 1-9

These lines show the current position and comment for each available user

X
Y
Z
Comment
Active UFRAME
$MNUFRAMENUM[1] =
0
[TYPE]
DETAIL
OTHER
CLEAR

SETIND

CLRIND

frame.
This column shows the X coordinate of each user frame.
This column shows the Y coordinate of each user frame.
This column shows the Z coordinate of each user frame.
This column shows the comment for each user frame.
This line indicates which user frame is currently selected for use.
Press this key to access various application-specific options.
Press this key to display detailed information for each user frame and to set the
definition and comment of each frame.
Press this key to select one of the other available reference frames or to choose
the motion group for the frame you are setting up (in systems with multiple
motion groups).
To set the numerical values of any user frame to zero, move the cursor to the
frame number, press CLEAR and answer YES to the prompt.
To select the user frame to use, press F5, SETIND, type the number of the user
frame you want, and press ENTER. This sets the active user frame
($MNUFRAMNUM[1]) to the number of the frame you want. If F5, SETIND, is not
displayed, press PREV.
Press this key if you want to clear the number of the user frame currently
selected for use.

Figure 3.9 World and User Frames

Figure 3.10 World and User Frames for ArcTool

You can use three methods to define the user frame:




Three point method

Four point method

Direct entry method

Three Point Method

Recording three points defines the user frame. The three points are the origin, a position along the +x-axis of
the user frame, and a position on the x-y plane of the user frame (defines the x-y plane and the y-z plane).
Table 3.6 User Frame Setup Three Point DETAIL Screen Items
ITEM
Frame number
X, Y, Z, W, P, R
Comment
Orient Origin Point
X Direction Point
Y Direction Point
Active UFRAME
$MNUFRAMENUM[1] = 0
[TYPE]
[METHOD]
[FRAME]
MOVE_TO
RECORD
Four Point Method

DESCRIPTION
This line shows the number of the user frame being defined.
These items show the current coordinates of the user frame being defined.
This item is used to add a comment.
This item is used to define the reference point of the user frame.
This item is used to define the +x direction point.
This item is used to define a point on the X-Y plane.
This line indicates which user frame is currently selected for use.
Press this key to access various application-specific options.
Press this key to select a method of entry.
Press this key to select a frame.
Press this key to move to a recorded position. Move the cursor to the
desired point and press MOVE_TO along with the SHIFT key.
Press this key along with the SHIFT key to record a position.

Use the four point method when you need to define a frame that has its origin at a position other than the
reference of the frame. You can also use it to define multiple frames with parallel axes. The four points are
the reference of the frame (called orient origin point), a point along the +x-axis of the frame (defines the x-z
plane), a point on the x-y plane of the frame (defines the x-y plane and the y-z plane) and the origin of the
frame (called system origin).
Table 3.7 User Frame Setup Four Point DETAIL Screen Items
ITEM
Frame number
X, Y, Z, W, P, R
Comment

DESCRIPTION
This line shows the number of the user frame being defined.
These items show the current coordinates of the user frame being defined.
This item is used to add a comment.

Orient Origin Point


X Direction Point
Y Direction Point
System Origin
Active UFRAME
$MUFRAMENUM[1] = 0
[TYPE]
[METHOD]
[FRAME]

This item is used to define the reference point of the user frame.
This item is used to define the +x direction point.
This item is used to define a point on the X-Y plane.
This item is used to teach the origin of the second user frame.
This line indicates which user frame is currently selected for use.
Press this key to access various application-specific options.
Press this key to select a method of entry.
Press this key to select a frame.

MOVE_TO

Press this key to move to a recorded position. Move the cursor to the
desired point and press MOVE_TO along with the SHIFT key.

RECORD

Press this key along with the SHIFT key to record a position.

Direct Entry Method

Use the direct entry method when you know the coordinates of the user frame. The direct entry method
allows you to designate the origin with values for x, y, z, w, p, and r. Use Procedure 3.7 Setting Up User
Frame Using the Direct Entry Method to define a user frame using the direct entry method.
Table 3.8 User Frame Setup Direct Entry DETAIL Screen Items
ITEM
Frame number
Comment
X
Y
Z
W
P
R
Configuration
Active UFRAME $MNUFRAMENUM[1]
=0

DESCRIPTION
This line shows the number of the user frame being defined.
This item is used to add a comment.
This item is used to define the component of the user frame.
This item is used to define the component of the user frame.
This item is used to define the component of the user frame.
This item is used to define the component of the user frame.
This item is used to define the component of the user frame.
This item is used to define the component of the user frame.
This line displays the current robot configuration.

[TYPE]

Press this key to access various application-specific options.

This line indicates which user frame is currently selected for use.

[METHOD]
[FRAME]

Press this key to select a method of entry.


Press this key to select a frame.
Press this key along with the SHIFT key to move to a recorded
position.
Press this key along with the SHIFT key to record a position.

MOVE_TO
RECORD

Use Procedure 3.8 Selecting a User Frame to select a user frame.


Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
3.1.3.2 HandlingTool User Frame Three Point Method
Procedure 3.5 Setting Up the User Frame Using the Three Point Method
Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
Conditions


The tool frame you want to select has been set up. ( Procedure 3.1 Setting Up Tool Frame Using the
Three Point Method , Procedure 3.2 Setting Up Tool Frame Using the Six Point Method , or Procedure
3.3 Setting Up Tool Frame Using the Direct Entry Method )
Warning
If you set up a new frame, make sure that all frame
data is zero or uninitialized before you record any
positions. Press F4, CLEAR, to clear frame data.
If you modify an existing frame, make sure that all
frame data is set the way you want before you
change it.
Otherwise, you could injure personnel or damage
equipment.

Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.

5. To choose the motion group for the frame you are setting up in systems with multiple motion groups
press F3, [OTHER], and select the group you want. The default motion group is Group 1.
Warning
Do not run a KAREL program that includes motion
statements if more than one motion group is defined
on your controller. If your controller is set up for
more than one motion group, all motion must be
initiated from a teach pendant program. Otherwise,
the robot could move unexpectedly, personnel could
be injured, and equipment could be damaged.
6. If user frames are not displayed, press F3, [OTHER], and select User/RTCP. If F3, [OTHER], is not
displayed, press PREV.
7. To display the settings for all frames, press PREV repeatedly until you see a screen similar to the
following.
SETUP Frames
User/RTCP Setup / Three Point
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active UFRAME/RTCP $MNUFRAMNUM[1]=0

8. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and
then press F4, YES, to confirm.
9. Press F2, DETAIL.
10. To select a frame,
a. Press F3, FRAME.
b. Type the desired frame number.
c. Press ENTER.
11. Press F2, [METHOD].
12. Select Three Point. You will see a screen similar to the following.
SETUP Frames
User/RTCP Setup/ Three Point
Frame Number: 2
X: 0.0
Y: 0.0
Z: 0.0
W: 0.0
P: 0.0
R: 0.0
Comment: ****************
Orient Origin Point:
UNINIT
X Direction Point:
UNINIT
Y Direction Point:
UNINIT
Active UFRAME/RTCP $MNUFRAMNUM[1]=1

13. To add a comment:


a. Move the cursor to the comment line and press ENTER.
b. Select a method of naming the comment.
c. Press the appropriate function keys to enter the comment.
d. When you are finished, press ENTER.
14. Define the origin point of the user frame: (Orient Origin Point) :
a. Move the cursor to Orient Origin Point.
b. Jog the robot TCP to the origin. In Figure 3.11 Defining the Origin , the origin is labeled 1.
c. Press and hold the SHIFT key and press F5, RECORD.
Figure 3.11 Defining the Origin

15. Define the +x direction point (X Direction Point) :


a. Move the cursor to X Direction Point.
b. Jog the robot tool tip to a point along the +x-axis. In Figure 3.12 Defining the X Direction Point ,
this point is labeled number 2.
c. Press and hold the SHIFT key and press F5, RECORD.
Figure 3.12 Defining the X Direction Point

16. Define a point on the positive X-Y plane (Y Direction Point) :


a. Move the cursor to Y Direction Point.
b. Jog the robot to a location on the positive X-Y plane. In Figure 3.13 Defining the X-Y Plane , this
point is labeled number 3.
c. Press and hold the SHIFT key and press F5, RECORD.
Figure 3.13 Defining the X-Y Plane

17. To select the user frame to use, press F5, SETIND, type the number of the user frame you want, and
press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame you
want. If F5, SETIND, is not displayed, press PREV.
-OR-

Use the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to User, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.
18. Jog the robot in the +x, +y, and +z directions. The robot should move in the correct directions according
to the frame you defined. If the robot does not move in the correct directions, go to Step 19 . Otherwise,
go to Step 20 .
Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is
altered, you will have no record of it.
19. To move to a recorded position, move the cursor to the desired position, press and hold the SHIFT
key and press F4, MOVE_TO.
Warning
When you use F4, MOVE_TO, to jog the robot,
unexpected motion can occur. This could injure
personnel or damage equipment.
Note
If you want to clear the current user frame selected, press
NEXT, >, and then F2, CLRIND. This sets the active user
frame ($MNUFRAMNUM[1]) to zero, which means that the
default user frame is currently selected.
20. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].
d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the user frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
Display the SYSTEM Variables menu,

k. Press MENUS.
l. Select SYSTEM.
m. Press F1, [TYPE].
n. Select Variables.
o. Press FCTN.
p. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the
default device.
3.1.3.3 HandlingTool User Frame Four Point Method
Procedure 3.6 Setting Up User Frame Using the Four Point Method
Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
Warning
If you set up a new frame, make sure that all frame
data is zero or uninitialized before you record any
positions. Press F4, CLEAR, to clear frame data.
If you modify an existing frame, make sure that all
frame data is set the way you want before you
change it.
Otherwise, you could injure personnel or damage
equipment.
Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. To choose the motion group for the frame you are setting up in systems with multiple motion groups
press F3, [OTHER], and select the group you want. The default motion group is Group 1.
Warning
Do not run a KAREL program that includes motion
statements if more than one motion group is defined
on your controller. If your controller is set up for
more than one motion group, all motion must be

initiated from a teach pendant program. Otherwise,


the robot could move unexpectedly, personnel could
be injured, and equipment could be damaged.
6. If user frames are not displayed, press F3, [OTHER], and select User Frame. If F3, [OTHER], is not
displayed, press PREV.
7. To display the settings for all frames, press PREV repeatedly until you see a screen similar to the
following.
SETUP Frames
User/RTCP Setup / Four Point
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active UFRAME/RTCP $MNUFRAMNUM[1]=0

8. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and
then press F4, YES, to confirm.
9. Press F2, DETAIL.
10. To select a frame,
a. Press F3, FRAME.
b. Type the desired frame number.
c. Press ENTER.
11. Press F2, [METHOD].
12. Select Four Point. You will see a screen similar to the following.
SETUP Frames
User/RTCP Setup/ Four Point
Frame Number: 2
X: 0.0
Y: 0.0
Z: 0.0
W: 0.0
P: 0.0
R: 0.0
Comment: ****************
Orient Origin Point:
UNINIT
X Direction Point:
UNINIT
Y Direction Point:
UNINIT
System Origin:
UNINIT
Active UFRAME/RTCP $MNUFRAMNUM[1]=1

13. To add a comment:


a. Move the cursor to the comment line and press ENTER.
b. Select a method of naming the comment.
c. Press the appropriate function keys to enter the comment.

d. When you are finished, press ENTER.


14. Define the reference point of the user frame (Orient Origin Point) :
a. Move the cursor to Orient Origin Point.
b. Jog the robot TCP to the origin. In Figure 3.14 Defining the Origin , the origin is labeled 1.
c. Press and hold the SHIFT key and press F5, RECORD.
Figure 3.14 Defining the Origin

15. Define the +x direction point (X Direction Point) :


a. Move the cursor to X Direction Point.
b. Jog the robot TCP to a point along the +x-axis. In Figure 3.15 Defining the X Direction Point , this
point is labeled number 2.
c. Press and hold the SHIFT key and press F5, RECORD, to record a position.
Figure 3.15 Defining the X Direction Point

16. Define a point on the X-Y plane (Y Direction Point):


a. Move the cursor to Y Direction Point.
b. Jog the robot to a location on the positive X-Y plane. In Figure 3.16 Defining the X-Y Plane this
point is labeled number 3.
c. Press and hold the SHIFT key and press F5, RECORD.
Figure 3.16 Defining the X-Y Plane

17. Teach the origin of the second user frame (System Origin):
a. Move the cursor to System Origin.
b. Jog the robot TCP to the origin of the second user frame. In Figure 3.17 Defining the Second
Origin , the origin is labeled 4.

c. Press F5, RECORD, to record a position.


Figure 3.17 Defining the Second Origin

18. To select the user frame to use, press F5, SETIND, type the number of the user frame you want, and
press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame you
want. If F5, SETIND, is not displayed, press PREV.
-ORUse the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to User, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.
19. Jog the robot in the +x, +y, and +z directions. The robot should move in the correct directions according
to the frame you defined. If the robot does not move in the correct directions, go to Step 20 . Otherwise,
go to Step 21 .
Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is
altered, you will have no record of it.
20. To move to a recorded position, move the cursor to the desired position, press and hold the SHIFT
key and press F4, MOVE_TO.
Warning

When you use F4, MOVE_TO, to jog the robot,


unexpected motion can occur. This could injure
personnel or damage equipment.
Note
If you want to clear the current frame to zero, move the cursor
to the frame number and press NEXT, >, and then F2,
CLRIND. This sets the active user frame ($MNUFRAMNUM
[1]) to zero, which means that the default user frame is
currently selected.
21. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].
d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the user frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
Display the SYSTEM Variables menu,
k. Press MENUS.
l. Select SYSTEM.
m. Press F1, [TYPE].
n. Select Variables.
o. Press FCTN.
p. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the
default device.
3.1.3.4 User Frame Direct Entry Method
Procedure 3.7 Setting Up User Frame Using the Direct Entry Method

Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
Warning
If you set up a new frame, make sure that all frame
data is zero or uninitialized before you record any
positions. Press F4, CLEAR, to clear frame data.
If you modify an existing frame, make sure that all
frame data is set the way you want before you
change it.
Otherwise, you could injure personnel or damage
equipment.
Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. To choose the motion group for the frame you are setting up in systems with multiple motion groups
press F3, [OTHER], and select the group you want. The default motion group is Group 1.
Warning
Do not run a KAREL program that includes motion
statements if more than one motion group is defined
on your controller. If your controller is set up for
more than one motion group, all motion must be
initiated from a teach pendant program. Otherwise,
the robot could move unexpectedly, personnel could
be injured, and equipment could be damaged.
6. If user frames are not displayed, press F3, [OTHER], and select User Frame. If F3, [OTHER], is not
displayed, press PREV.
7. To display the settings for all the frames, press PREV repeatedly until you see a screen similar to
the following.
SETUP Frames
User/RTCP Setup / Direct Entry
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************

7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active UFRAME/RTCP $MNUFRAMNUM[1]=0

8. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and
then press F4, YES, to confirm.
9. Press F2, DETAIL.
10. To select a frame,
a. Press F3, FRAME.
b. Type the desired frame number.
c. Press ENTER.
11. Press F2, [METHOD].
12. Select Direct Entry. You will see a screen similar to the following.
SETUP Frames
User/RTCP Setup/ Direct Entry
Frame Number: 1
1 Comment: ****************
2 X:
0.000
3 Y:
0.000
4 Z:
0.000
5 W:
0.000
6 P:
0.000
7 R:
0.000
Configuration: N, 0, 0, 0
Active UFRAME/RTCP $MNUFRAMENUM[1]=0

13. To add a comment:


a. Move the cursor to the comment line and press ENTER.
b. Select a method of naming the comment.
c. Press the appropriate function keys to enter the comment.
d. When you are finished, press ENTER.
14. Set each position component:
a. Move the cursor to the component.
b. Enter the numeric value for the component.
c. Press the ENTER key to set the new value.
15. To select the user frame to use, press F5, SETIND, type the number of the user frame you want, and
press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame you
want. If F5, SETIND, is not displayed, press PREV.
-OR-

Use the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to User, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.
Note
If you want to clear the current frame to zero, move the cursor
to the frame number and press NEXT, >, and then F2,
CLRIND. This sets the active user frame ($MNUFRAMNUM
[1]) to zero, which means that the default user frame is
currently selected.
Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is
altered, you will have no record of it.
16. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].
d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the user frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
17. To save the SYSTEM Variables menu,
a. Press MENUS.
b. Select SYSTEM.
c. Press F1, [TYPE].
d. Select Variables.
e. Press FCTN.
f. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the

default device.
3.1.3.5 Selecting a User Frame
Procedure 3.8 Selecting a User Frame
Caution
The system variable $USEUFRAME defines
whether the current value of $MNUFRAMENUM
[group_no] will be assigned to the positions user
frame when it is being recorded or touched up.
When $USEUFRAME=FALSE, the initial recording
of positions and the touching up of positions is done
with the user frame number equal to 0, regardless of
the value of $MNUFRAMENUM[group_no].
When $USEUFRAME=TRUE, the initial recording of
positions is done with the positions user frame
equal to the user frame defined by
$MNUFRAMENUM[group_no]. The touching up of
positions must also be done with the positions user
frame equal to the user frame defined by
$MNUFRAMENUM[group_no].
Be sure to set system variable $USEUFRAME
correctly. Otherwise, your program will not operate
properly.
Note
You can also use the Jog Menu to select the number of the
user frame you want to use. Refer to Section 2.3.8 .
Conditions


The user frame you want to select has been set up.

Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. If user frames are not displayed press F3, [OTHER], and select User Frame. If F3, [OTHER], is not
displayed, press PREV. You will see a screen similar to the following.
SETUP Frames
User/RTCP Setup / Direct Entry
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************

3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
7:
0.0
0.0
0.0 *************
8:
0.0
0.0
0.0 *************
9:
0.0
0.0
0.0 *************
Active UFRAME/RTCP $MNUFRAMNUM[1]=0

6. To select the user frame to use, press F5, SETIND, type the number of the user frame you want, and
press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame you
want. If F5, SETIND, is not displayed, press PREV.
-ORUse the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to User, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.
Note
When a teach pendant program is executed, you must make
sure that the user frame of the position equals the value of
$MNUFRAMENUM[group_no], otherwise, an error will occur.
Set the value of $MNUFRAMENUM[1] using the
UFRAME_NUM=n instruction in the teach pendant program
and then execute that instruction before you record the
position. This guarantees that the position corresponds to the
correct user frame.

3.1.4 Remote TCP Frame


3.1.4.1 Setting Up a Remote TCP Frame
You must define a remote TCP (RTCP) frame before you can use the remote TCP option to jog or include
remote TCP within a motion instruction. Use Procedure 3.10 Setting Up a Remote TCP Frame Using the
Direct Entry Method to set up an RTCP frame. You define this frame using the location of the remote TCP as
the origin of the frame.
Note
Remote TCP frame will not be available if the Coordinated
Motion option is loaded.
See Figure 3.18 Remote TCP Frame for an example of a remote TCP frame.
Figure 3.18 Remote TCP Frame

You can use two methods to define the RTCP frame:




Three point method

Direct entry method

Three Point Method

Recording three points defines the RTCP frame. The three points are the origin, or TCP of the fixed tool, a
position along the +x-axis of the RTCP frame, and a position on the y-axis of the RTCP frame. Use
Procedure 3.9 Setting Up a Remote TCP Frame Using the Three Point Method to define an RTCP frame
using the three point method.
Direct Entry Method

If you cannot use the three point method, use the direct entry method. In the direct entry method, you will be
required to specify values for x, y, and z of the remote TCP. Use Procedure 3.10 Setting Up a Remote TCP
Frame Using the Direct Entry Method to define an RTCP frame using the direct entry method.
Use Procedure 3.11 Selecting an RTCP Frame to select an RTCP frame.
Procedure 3.9 Setting Up a Remote TCP Frame Using the Three Point Method
Warning
If you are setting up a new frame, make sure that all
frame data is zero or uninitialized before you record
any positions. Press F4, CLEAR, to clear frame
data.
If you are modifying an existing frame, make sure
that all frame data is set the way you want before
you change it.
Otherwise, you could injure personnel or damage
equipment.

Conditions


The end-of-arm tooling or a setup pointer is attached to the robot faceplate.

You have set up the tool frame for the end-of-arm tooling or setup pointer. Refer to Section 3.1.2.1 .

Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. If user/RTCP frames are not displayed, press F3, [OTHER], and select User/RTCP. If F3, [OTHER],
is not displayed, press PREV.
6. To display the settings for all frames, press PREV repeatedly until you see a screen similar to the
following.
SETUP Frames
User/RTCP Setup / Three Point
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
Active UFRAME/RTCP $MNUFRAMNUM[1]=0

7. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and
then press F4, YES, to confirm.
8. Press F2, DETAIL.
9. To select a frame,
a. Press F3, FRAME.
b. Type the desired frame number.
c. Press ENTER.
10. Press F2, [METHOD].
11. Select Three Point. You will see a screen similar to the following.
SETUP Frames
User/RTCP Setup/ Three Point
Frame Number: 2
X: 0.0
Y: 0.0
Z: 0.0
W: 0.0
P: 0.0
R: 0.0
Comment: ****************
Orient Origin Point:
UNINIT
X Direction Point:
UNINIT
Y Direction Point:
UNINIT

Active UFRAME/RTCP $MNUFRAMNUM[1]=0

12. To add a comment:


a. Move the cursor to the comment line and press ENTER.
b. Select a method of naming the comment.
c. Press the appropriate function keys to enter the comment.
d. When you are finished, press ENTER.
13. Define the origin point of the remote TCP frame(Orient Origin Point):
a. Move the cursor to Orient Origin Point.
b. Jog the robot so that the TCP of the end-of-arm tooling or setup pointer touches the remote TCP
of the fixed tool. See Figure 3.19 Touching the TCP of the Robot Tool to the Remote TCP .
c. Press and hold the SHIFT key and press F5, RECORD.
Figure 3.19 Touching the TCP of the Robot Tool to the Remote TCP

14. Define the +x direction point(X Direction Point):


a. Move the cursor to X Direction Point.
b. Select an xyz coordinate system.
c. Jog the robot in the desired +x direction.
d. Press and hold the SHIFT key and press F5, RECORD.
15. Define a point on the positive X-Y plane(Y Direction Point):
a. Move the cursor to Orient Origin Point.

b. Select an xyz coordinate system.


c. Press and hold the SHIFT key and press F4, MOVE_TO.
d. Move the cursor to Y Direction Point.
e. Jog the robot in the desired +y direction.
f. Press and hold the SHIFT key and press F5, RECORD.
16. To select the RTCP frame to use press F5, SETIND, type the number of the user frame you want,
and press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame
you want. If F5, SETIND, is not displayed, press PREV.
-ORUse the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to RTCP, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.
17. Jog the robot in the +x, +y, and +z directions. The robot should move in the correct directions according
to the frame you defined. If the robot does not move in the correct directions, go to Step 18 . Otherwise,
go to Step 19 .
Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is
altered, you will have no record of it.
18. To move to a recorded position, move the cursor to the desired position, press and hold the SHIFT
key and press F4, MOVE_TO.
Warning
When you use F4, MOVE_TO, to jog the robot,
unexpected motion can occur. This could injure
personnel or damage equipment.
Note
If you want to clear the current RTCP frame selected, press
NEXT, >, and then F2, CLRIND. This sets the active user
frame ($MNUFRAMNUM[1]) to zero, which means that the
default user frame is currently selected.
19. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].

d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the RTCP frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
20. To display the SYSTEM Variables menu,
a. Press MENUS.
b. Select SYSTEM.
c. Press F1, [TYPE].
d. Select Variables.
e. Press FCTN.
f. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the
default device.
Procedure 3.10 Setting Up a Remote TCP Frame Using the Direct Entry Method
Warning
If you are setting up a new frame, make sure that all
frame data is zero or uninitialized before you record
any positions. Press F4, CLEAR, to clear frame
data.
If you are modifying an existing frame, make sure
that all frame data is set the way you want before
you change it.
Otherwise, you could injure personnel or damage
equipment.
Conditions


The end-of-arm tooling or a setup pointer is attached to the robot faceplate.

You have set up the tool frame for the end-of-arm tooling or setup pointer. Refer to Section 3.1.2.1 .

Steps

1. Determine the Remote TCP of the fixed tool:

a. Jog the robot so that the TCP of the end-of-arm tooling or setup pointer touches the remote TCP
of the fixed tool.
Figure 3.20 Touching the TCP of the Robot Tool to the Remote TCP

b. Press POSN.
c. Press F4, WORLD.
d. Write down the x, y, and z values of the current position in the WORLD coordinate system. This is
the remote TCP of the fixed tool.
2. Use the Direct Entry Method to set up the Remote TCP frame:
a. Press MENUS.
b. Select SETUP.
c. Press F1, [TYPE].
d. Select Frames.
e. If user/RTCP frames are not displayed, press F3, [OTHER], and select User/RTCP. If F3,
[OTHER], is not displayed, press PREV.
f. To display the settings for all the frames, press PREV repeatedly until you see a screen
similar to the following.
SETUP Frames
User/RTCP Setup/ Direct Entry
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
Active UFRAME/RTCP $MNUFRAMNUM[1]=0

g. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR,
and then press F4, YES, to confirm.
h. Press F2, DETAIL.
i. To select a frame, press F3, FRAME, type the desired frame number, and press ENTER.
j. Press F2, [METHOD].
k. Select Direct Entry. You will see a screen similar to the following.
SETUP Frames
User/RTCP Setup/ Direct Entry
Frame Number: 1
1 Comment: ****************
2 X:
0.000
3 Y:
0.000
4 Z:
0.000
5 W:
0.000
6 P:
0.000
7 R:
0.000
Configuration: N R D B, 0, 0, 0
Active UFRAME/RTCP $MNUFRAMENUM[1]=0

l. To add a comment, move the cursor to the comment line, press ENTER, select a method of
naming the comment, and press the appropriate function keys to enter the comment. When you
are finished, press ENTER.
m. Set each position component:
 Move the cursor to the x, y, and z components and enter the values you recorded in Step
1.d .


Move the cursor to the w, p, and r components and enter 0 for each component.

3. To select the RTCP frame to use, press F5, SETIND, type the number of the RTCP frame you want,
and press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame
you want. If F5, SETIND, is not displayed, press PREV.
-ORUse the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to RTCP, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.
Note
If you want to clear the current frame to zero, move the cursor
to the frame number and press NEXT, >, and then F2,
CLRIND. This sets the active user frame ($MNUFRAMNUM
[1]) to zero, which means that the default user frame is
currently selected.
Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is

altered, you will have no record of it.


4. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].
d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the RTCP frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
5. To display the SYSTEM Variables menu,
a. Press MENUS.
b. Select SYSTEM.
c. Press F1, [TYPE].
d. Select Variables.
e. Press FCTN.
f. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the
default device.
Procedure 3.11 Selecting an RTCP Frame
Note
To select the number of the RTCP frame you want to use,
you can also use the jog menu. Refer to Section 2.3.8 for
more information.
Conditions


Steps

The user frame you want to select has been set up.

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. If user frames are not displayed press F3, [OTHER], and select User Frame. If F3, [OTHER], is not
displayed, press PREV. You will see a screen similar to the following.
SETUP Frames
User/RTCP Setup/Direct Entry
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
Active UFRAME/RTCP $MNUFRAMNUM[1]=0

6. To select the user frame to use press F5, SETIND, type the number of the user frame you want, and
press ENTER. This sets the active user frame ($MNUFRAMNUM[1]) to the number of the frame you
want. If F5, SETIND, is not displayed, press PREV.
-ORUse the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to RTCP, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.
7. The system variable $USEUFRAME defines whether the current value of $MNUFRAMENUM
[group_no] will be assigned to the positions user frame when it is being recorded or touched up.
When $UFRAMENUM=FALSE, the initial recording of positions and the touching up of positions is
done with the user frame number equal to 0, regardless of the value of $MNUFRAMENUM[group_no].
When $UFRAMENUM=TRUE, the initial recording of positions is done with the positions user frame
equal to the user frame defined by $MNUFRAMENUM[group_no]. The touching up of positions must
also be done with the positions user frame equal to the user frame defined by $MNUFRAMENUM
[group_no].
Note
When a teach pendant program is executed, you must make
sure that the user frame of the position equals the value of
$MNUFRAMENUM[group_no]; otherwise, an error will occur.
Set the value of $MNUFRAMENUM[1] using the
UFRAME_NUM=n instruction in the teach pendant program
before you record the position to guarantee that the user
frame numbers match during program execution.

3.1.5 Jog Frame


3.1.5.1 Setting Up Jog Frame
Jog frame is a frame that you can set up in any location, with any orientation. Jog frame provides a

convenient way to move along a part when the part is oriented differently from the world frame. See Figure
3.21 Jog Frame Defined Parallel to Part .
You can set up jog frame so that the coordinates of jog frame correspond to the coordinates of the part. You
can then jog along x, y, and z to teach the positions on the part.


Before you use jog frame, you must set up its location and orientation.

You can set up as many as five different jog frames for each robot.

You can select one jog frame to be active at a time per robot group.

You can jog the robot in jog frame.


Figure 3.21 Jog Frame Defined Parallel to Part

Table 3.9 Jog Frame Setup Screen Items


ITEM
Jog frame
setup/xxxx
Frame number
1-5
X
Y
Z
Comment
Active JOG
FRAME[1] = 0
[TYPE]
DETAIL
OTHER

DESCRIPTION
This line shows the current selected method for setting each jog frame.
These lines show the current position and comment for each available jog frame.
This column shows the X coordinate of each jog frame.
This column shows the Y coordinate of each jog frame.
This column shows the Z coordinate of each jog frame.
This column shows the comment for each jog frame.
This line indicates which jog frame is currently selected for use.
Press this key to access various application-specific options.
Press this key to display detailed information for each jog frame and to set the definition
and comment of each jog frame.
Press this key to select one of the other available reference frames or to choose the
motion group for the frame you are setting up (in systems with multiple motion groups).

CLEAR
SETIND

To set the numerical values of any jog frame to zero, move the cursor to the frame
number, press CLEAR and answer YES to the prompt.
To select the jog frame to use, press F5, SETIND, type the number of the jog frame you
want, and press ENTER. This sets the active jog frame to the number of the frame you
want. If F5, SETIND, is not displayed, press PREV.

You can use two methods to define the jog frame.




Three point method

Direct entry method

Three Point Method

The three point method allows you to define a jog frame by recording three points: the origin, a point along
the +x-axis of the user frame, and a point on the x-y plane of the user frame (defines the x-y plane and the yz plane).
Table 3.10 Jog Frame Setup Three Point DETAIL Screen Items
ITEM
Frame number
X, Y, Z, W, P, R
Comment
Orient Origin Point
X Direction Point
Y Direction Point
Active JOG FRAME
[1] = 0
[TYPE]
[METHOD]
[FRAME]
MOVE_TO
RECORD

DESCRIPTION
This line shows the number of the jog frame being defined.
These items show the current coordinates of the jog frame being defined.
This item is used to add a comment.
This item is used to define the reference point of the jog frame.
This item is used to define the +x direction point.
This item is used to define a point on the X-Y plane.
This item indicates which jog frame is currently selected for use
Press this key to access various application-specific options.
Press this key to select a method of entry.
Press this key to select a frame.
Press this key to move to a recorded position. Move the cursor to the desired point
and press MOVE_TO along with the SHIFT key.
Press this key along with the SHIFT key to record a position.

Direct Entry Method

The direct entry method allows you to designate the origin with values for x, y, z, w, p, and r. This method
provides direct recording and numerical entry of the frame position.
Table 3.11 Jog Frame Setup Direct Entry DETAIL Screen Items
ITEM

DESCRIPTION

Frame number
Comment
X
Y

This line shows the number of the jog frame being defined.
This item is used to add a comment.
This item is used to define the component of the jog frame.
This item is used to define the component of the jog frame.

Z
W
P
R
Configuration
Active JOG FRAME[1] = 0
[TYPE]
[METHOD]
[FRAME]
MOVE_TO
RECORD

This item is used to define the component of the jog frame.


This item is used to define the component of the jog frame.
This item is used to define the component of the jog frame.
This item is used to define the component of the jog frame.
This line displays the current robot configuration.
This line indicates which jog frame is currently selected for use.
Press this key to access various application-specific options.
Press this key to select a method of entry.
Press this key to select a frame.
Press this key along with the SHIFT key to move to a recorded position.
Press this key along with the SHIFT key to record a position.

Use Procedure 3.14 Selecting a Jog Frame to select a jog frame.


3.1.5.2 HandlingTool Jog Frame Three Point Method
Procedure 3.12 Setting Up the Jog Frame Using the Three Point Method
Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
Warning
If you set up a new frame, make sure that all frame
data is zero or uninitialized before you record any
positions. Press F4, CLEAR, to clear frame data.
If you modify an existing frame, make sure that all
frame data is set the way you want before you
change it.
Otherwise, you could injure personnel or damage
equipment.
Conditions


You have a cardboard box.

Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.

5. To choose the motion group for the frame you are setting up in systems with multiple motion groups
press F3, [OTHER], and select the group you want. The default motion group is Group 1.
Warning
Do not run a KAREL program that includes motion
statements if more than one motion group is defined
on your controller. If your controller is set up for
more than one motion group, all motion must be
initiated from a teach pendant program. Otherwise,
the robot could move unexpectedly, personnel could
be injured, and equipment could be damaged.
6. If jog frames are not displayed, press F3, [OTHER], and select Jog Frame. If F3, [OTHER], is not
displayed, press PREV.
7. To display the settings for all frames, press PREV repeatedly until you see a screen similar to the
following.
SETUP Frames
JOG Frame Setup / Three Point
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
Active JOG FRAME[1] = 0

8. To set the numerical values to zero,, move the cursor to the frame number, press F4, CLEAR, and
then press F4, YES, to confirm.
9. Press F2, DETAIL.
10. To select a frame,
a. Press F3, FRAME.
b. Type the desired frame number.
c. Press ENTER.
11. Press F2, [METHOD].
12. Select Three Point. You will see a screen similar to the following.
SETUP Frames
Jog Frame Setup / Three Point
Frame Number: 2
X 0.0
Y 0.0
Z 0.0
W 0.0
P 0.0
R 0.0
Comment: ****************
Orient Origin Point: UNINIT
X Direction Point:
UNINIT
Y Direction Point:
UNINIT
Active JOG FRAME[1] = 0

13. To add a comment:

a. Move the cursor to the comment line and press ENTER.


b. Select a method of naming the comment.
c. Press the appropriate function keys to enter the comment.
d. When you are finished, press ENTER.
14. Mount a box within the workcell so that the orientation of the box matches the orientation of the desired
jog frame. Make sure that the corner of the box used to record the origin is at the proper location.
15. Define the origin of the jog frame (System Origin Point):
a. Move the cursor to System Origin Point.
b. Jog the robot TCP to the origin. In Figure 3.22 Defining the Origin the origin is labeled number 1.
c. Press and hold the SHIFT key and press F5, RECORD.
Figure 3.22 Defining the Origin

16. Define the +x direction point (X Direction Point):


a. Move the cursor to X Direction Point.
b. Jog the robot TCP to a point along the +x-axis of the box. In Figure 3.23 Defining the X Direction
Point , this point is labeled number 2.
c. Press and hold the SHIFT key and press F5, RECORD.
Figure 3.23 Defining the X Direction Point

17. Define a point on the positive X-Y plane (Y Direction Point):


a. Move the cursor to Y Direction Point.
b. Jog the robot to a location on the positive X-Y plane. In Figure 3.24 Defining the X-Y Plane , this
point is labeled number 3.
c. Press and hold the SHIFT key and press F5, RECORD.
Figure 3.24 Defining the X-Y Plane

18. To select the jog frame to use, press F5, SETIND, type the number of the jog frame you want, and
press ENTER. If F5, SETIND, is not displayed, press PREV.
-OR-

Use the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Jog, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.
19. Jog the robot in the +x, +y, and +z directions. The robot should move in the correct directions according
to the frame you defined. If the robot does not move in the correct directions, go to Step 20 . Otherwise,
go to Step 21 .
Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is
altered, you will have no record of it.
Warning
When you use F4, MOVE_TO, to jog the robot,
unexpected motion can occur. This could injure
personnel or damage equipment.
20. To move to a recorded position, move the cursor to the desired position, press and hold the SHIFT
key and press F4, MOVE_TO.
21. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].
d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the jog frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
Display the SYSTEM Variables menu,
k. Press MENUS.
l. Select SYSTEM.
m. Press F1, [TYPE].

n. Select Variables.
o. Press FCTN.
p. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the
default device.
3.1.5.3 Jog Frame Direct Entry Method
Procedure 3.13 Setting Up the Jog Frame Using the Direct Entry Method
Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
Warning
If you set up a new frame, make sure that all frame
data is zero or uninitialized before you record any
positions. Press F4, CLEAR, to clear frame data.
If you modify an existing frame, make sure that all
frame data is set the way you want before you
change it.
Otherwise, you could injure personnel or damage
equipment.
Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. To choose the motion group for the frame you are setting up in systems with multiple motion groups
press F3, [OTHER], and select the group you want. The default motion group is Group 1.
Warning
Do not run a KAREL program that includes motion
statements if more than one motion group is defined
on your controller. If your controller is set up for
more than one motion group, all motion must be
initiated from a teach pendant program. Otherwise,
the robot could move unexpectedly, personnel could
be injured, and equipment could be damaged.
5. Select Frames.
6. If jog frames are not displayed, press F3, [OTHER] and select Jog Frame. If F3, [OTHER], is not
displayed, press PREV.

7. To display the settings for all frames, press PREV repeatedly until you see a screen similar to the
following.
SETUP Frames
JOG Frame Setup / Three Point
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
Active JOG FRAME[1] = 0

8. To set the numerical values to zero, move the cursor to the frame number, press F4, CLEAR, and
then press F4, YES, to confirm.
9. Press F2, DETAIL.
10. To select a frame,
a. Press F3, FRAME.
b. Type the desired frame number.
c. Press ENTER.
11. Press F2, [METHOD].
12. Select Direct Entry. You will see a screen similar to the following.
SETUP Frames
Jog Frame Setup / Direct Entry
Frame Number: 1
1 Comment: ****************
2 X:
0.000
3 Y:
0.000
4 Z:
0.000
5 W:
0.000
6 P:
0.000
7 R:
0.000
Configuration:
N R D B, 0, 0, 0
Active JOG FRAME[1] = 0

13. To add a comment:


a. Move the cursor to the comment line and press ENTER.
b. Select a method of naming the comment.
c. Press the appropriate function keys to enter the comment.
d. When you are finished, press ENTER.
14. Set each position component:
a. Move the cursor to the component.
b. Enter the numeric value for the component.
c. Press ENTER to set the new value.

15. To select the jog frame to use, press F5, SETIND, type the number of the jog frame you want, and
press ENTER. If F5, SETIND, is not displayed, press PREV.
-ORUse the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Jog, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.
Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is
altered, you will have no record of it.
16. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].
d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the jog frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
Display the SYSTEM Variables menu,
17. To save the SYSTEM Variables,
a. Press MENUS.
b. Select SYSTEM.
c. Press F1, [TYPE].
d. Select Variables.
e. Press FCTN.
f. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the
default device.

3.1.5.4 Selecting a Jog Frame


Procedure 3.14 Selecting a Jog Frame
Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
Note
You can also use the Jog Menu to select the number of the
jog frame you want to use. Refer to Section 2.3.8 for more
information.
Conditions


The jog frame you want to select has been set up.

Steps

1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. If jog frames are not displayed press F3, [OTHER], and select Jog Frame. If F3, [OTHER], is not
displayed, press PREV. You will see a screen similar to the following.
SETUP Frames
Jog Frame Setup / Direct Entry
X
Y
Z
Comment
1: 0.0
0.0
0.0 *************
2: 0.0
0.0
0.0 *************
3: 0.0
0.0
0.0 *************
4: 0.0
0.0
0.0 *************
5: 0.0
0.0
0.0 *************
Active JOG FRAME[1] = 0

6. To select the jog frame to use, press F5, SETIND, type the number of the jog frame you want, and
press ENTER. This copies the selected jog frame to $JOG_GROUP[group_no].$JOGFRAME. If F5,
SETIND, is not displayed, press PREV.
-ORUse the Jog Menu. Press and hold SHIFT and press COORD, move the cursor to Jog, and type the
number of the frame you want to use. Refer to Section 2.3.8 for more information.

3.1.6 Saving Frame Data


Saving frame data saves the frame positions and comments. Use Procedure 3.15 Saving Frame Data to a
File to save frame data to a file.

Caution
Do not set up or alter frames when you use
PalletTool. Frames are automatically set up for you
by PalletTool.
Procedure 3.15 Saving Frame Data to a File
1. Press MENUS.
2. Select SETUP.
3. Press F1, [TYPE].
4. Select Frames.
5. Press F2, DETAIL.
6. To select a frame,
a. Press F3, FRAME.
b. Type the desired frame number.
c. Press ENTER.
7. Press F2, [METHOD].
8. Select a frame method. You will see a screen similar to the following.
SETUP Frames
Tool Frame Setup / Three Point
X
Y
Z
Comment
1:
0.0
0.0
0.0 *************
2:
0.0
0.0
0.0 *************
3:
0.0
0.0
0.0 *************
4:
0.0
0.0
0.0 *************
5:
0.0
0.0
0.0 *************
6:
0.0
0.0
0.0 *************
ACTIVE TOOL $MNUTOOLNUM[1]=1

Caution
When you are finished setting the frame
configuration, save the information to the default
device so that you can reload the configuration data
if necessary. Otherwise, if the configuration is
altered, you will have no record of it.
9. To save the frames and related system variables to a file on the default device,
a. Press MENUS.
b. Select FILE.
c. Press F1, [TYPE].

d. Select File.
e. Press F5, [UTIL].
f. Select Set Device.
g. Move the cursor to the device you want and press ENTER.
h. Display the frame screen.
i. Press FCTN.
j. Select SAVE. This will save the frame positions and comments for all frames to the file,
FRAMEVAR.SV, on the default device.
10. To save the SYSTEM Variables,
a. Press MENUS.
b. Select SYSTEM.
c. Press F1, [TYPE].
d. Select Variables.
e. Press FCTN.
f. Select SAVE. The frame positions and system variables are saved in the SYSVAR.SV file, on the
default device.