User`s guide

Adept Cobra PLC600/PLC800 Robot User’s Guide, Rev C 181
After the above locations have been entered, the system automatically computes the
orientation of the frame; in this example, the frame is a pallet frame. At this point, each
part on the pallet can be referenced from the pallet origin.
Note that reference frames apply to more than just pallets. However, a pallet provides a
good visual starting point for understanding this concept. Also note, when working with
pallets, that you typically need to define the row count, column count, row spacing and
column spacing. After these parameters have been defined, the system has all of the
information it needs to pick all of the parts from the pallet (or, to place parts into a pallet).
Why is Gripper Orientation Important?
When teaching locations, remember that the gripper to part orientation is important. For
example, consider the figures below. In Figure 10-6 the robot is in the pallet frame origin
(starting position) - note the orientation of the gripper to the part.
Figure 10-6. Pallet Frame Origin
In Figure 10-7 the robot is at a part location on the pallet X axis; however, the gripper to
part orientation is the same as in Figure 10-6