Define and check the Reference Frame

In order to be able to transfer a path recording with the RobPathRec Pen from RoboDK to the robot, a frame must be defined.

The frame will serve as the common coordinate system between the RoboDK digital twin and the actual robot. In other words: With the frame, we define exactly where the virtual workspace should be located in reality.

Remote recording #

If the frame is correctly defined, the recording can take place in completely different rooms and the program can then be transferred to the robot.

However, during the learning phase, it is recommended to carry out the recording in the robot’s workspace and to refrain from shifting or twisting.

The MUST structure of the station tree for the right operation

IMPORTANT! The RobPathRec App requires a Reference Frame in the tree under the Robot’s Frame! If this condition is not met, the RobPathRec App will not work!

Measuring the reference frame #

Before you start measuring the Reference Frame, make sure that the TCP is correct. You can use a point or a corner for this. In rotations in Rx, Ry, and Rz, the position, location of the tool should not change!

You can determine the position with the 4-point method.

The orientation must be adjusted according to the simulation file / offline file so that it fits the orientation of the RobPathRec Pen.

The frame is defined as a plane. With 3 points (0, X, Y), the plane can be uniquely defined. Therefore, you define 3 such points that:

  • Position and order of the points are fixed. 
  • The points can be used any time (they won’t be ground away, welded over etc.)

Increase the accuracy #

The larger the distance between the individual points, the more accurate the definition of the plane will be.

Each point must be reachable

The physical robot (and so the digital twin as well) must be able to approach all 3 points!

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