Frame teaching
When building up a real workcell, there will be usually slight deviations between the digital twin and the real workcell. To account for these deviations, use the robot along with the frame teaching routine to fine tune the position of various frames and objects.
During frame teaching, you can select landmark frames in your workcell and define their position using a three-point method with the robot arm. For the 3-point method, first the origin of the frame is touched, then a point on the x-axis, and finally a point on the x/y plane. These three points represent a unique coordinate frame.
For best results, it's recommended to use a special calibration pin with a sharp tip for the EOAT tooling. For the frame that should be taught, it's recommended that the frame has some distinct rectangular geometry, such as the corner of a fixture.
Ideally frame teaching is performed right after TCP calibration since the accuracy of your taught frames depends on an accurate TCP frame.
How to perform frame teaching
With your application in real hardware mode, click on the Scene menu, then select Frame teaching.
Follow the steps in the dialog to perform frame teaching.
For most accurate results, remember to:
- Use a dedicated calibration pin on the end-effector of the robot.
- Align the tip of the calibration pin as good as you can to the point of origin of the frame you are teaching, checking it from all angles.
- Choose the greatest possible distance from the origin of the frame when teaching the x-axis and x/y plane. By spanning a larger coordinate frame, you are increasing the accuracy of the computed frame.