User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 179
10.3 What is a Reference (Pallet) Frame?
The coordinate system in Figure 10-5 has its origin at the starting location of a pallet.
NOTE: N30:9, N30:10, and N30:11 values start at 0. Therefore a 3 row, 3
column, 1 layer pallet would be entered as N30:9 = 2, N30:10 = 2, N30:11 =
0.
The distance between pallet locations is 40 millimeters. Notice that, if we’re picking from the first
row in the Y axis, the second part is offset from the reference frame by 40 millimeters in the
Y-direction. Therefore, only the Y-component has a nonzero value. The part location is:
The middle row, third part is offset from the reference frame in both the X- and Y-directions.
Consequently, these two components have nonzero values.
Figure 10-3. Relative Location Figure 10-4. Joint Angles
XYZyp r
0.000 40.000 0.000 0.000 0.000 0.000
XYZyp r
40.000 80.000 0.000 0.000 0.000 0.000