User`s guide

180 Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C
If this pallet were brought into the workcell at a different location, merely updating the reference
frame to reflect its new location would allow you to use any locations created relative to that frame
without further modifications.
Reference frames can be moved and rotated in three dimensions. In this example the reference
frame is rotated exactly 90 degrees. You should note that you could move a reference frame to a
point where the locations relative to that frame would be out of range for the robot.
This example shows no rotation of the end-effector. In fact, if this were an assembly with several
different parts being placed with different orientations of the end-effector, the orientation
components of the location also would have nonzero values.
Figure 10-5. Pallet Frame Orientation
Defining a Reference Frame
When defining a reference frame, you are teaching three points: the frame origin, a
location on the X axis, and a location on the Y axis. See Figure 10-5 above. For example,
assuming a 40mm part spacing, the pallet in Figure 10-5 would be defined as follows:
NOTE: Make sure that you review the section “Why is Gripper
Orientation Important?” on page 181. It is necessary to understand this
concept, so that your parts are picked/placed correctly.
XYZyp r
Pallet origin 350.000 350.000 54.000 0.000 180.000 0.000
Location on X axis 270.000 350.000 54.000 0.000 180.000 0.000
Location on Y axis 350.000 270.000 54.000 0.000 180.000 0.000