To view a movie of this procedure, click Placement.
This procedure demonstrates three methods for positioning robots, tools, and parts in the workcell. The final object position is determined by the object location and orientation.
Placement Manipulator
1. From the Graphic Viewer or Object tree, select an object.
2. Click Tools→Placement→Tool Placement Manipulator or . The Placement Manipulator dialog appears. It opens for the selected object and a manipulator frame is placed on the object.
3. Click the arrow to the right of the Frame of Reference list and select a reference frame.
4. Translate (move) the selected object along an axis, as follows:
a. In the Translate area, click the Step Size link. The Step Size dialog appears.
b. Set the Step value and click OK.
c. Select the X, Y, or Z button.
Basic Tasks Relocate Robot, Tool, or Part d. Click or to move the object one step forward or backward along the selected axis.
Or
In the Graphic Viewer, select the X, Y, or Z axis of the manipulator frame, press the mouse button, and drag the object to the required position on the selected axis.
5. Rotate the selected object around an axis, as follows:
a. In the Rotate area, click the Step Size link. The Step Size dialog appears.
b. Set the Step value and click OK.
c. Select the Rx, Ry, or Rz button.
d. Click or to rotate the object one step clockwise or counterclockwise around the selected axis.
Or
In the Graphic Viewer, select the X, Y, or Z axis of the manipulator frame, press the mouse button, and drag the object. This rotates the object to the required orientation around the selected axis.
6. Click Close to close the Placement Manipulator dialog or Reset to return the object to its initial location and orientation when you launched the Placement Manipulator dialog.
Basic Tasks Relocate Robot, Tool, or Part Relocate
This method enables you to position objects at exact locations in the workcell.
1. From the Graphic Viewer or Object tree, select an object.
2. Click Tools→Placement→Relocate or . The Relocate dialog appears. It opens for the selected object.
3. From the To frame list, select a target frame to which to move the object. A yellow line appears in the Graphic Viewer indicating the proposed move.
Note: To create a new frame, click . For more information on creating new frames, see Create Frame in the RobotExpert Reference Manual.
Basic Tasks Relocate Robot, Tool, or Part Fast Placement
This method enables you to move objects in the X-Y plane (the Z coordinate of the object remains unchanged). This method is fast but not accurate.
1. From the Graphic Viewer or Object tree, select an object.
2. Click Tools→Placement→Fast Placement or . The cursor changes to a hand symbol.
3. Select and drag an object to the desired location in the workcell. The coordinates (X, Y, and Z) of the object are displayed near the hand.
4. Press <Esc> or click to exit fast placement mode.
References
For additional information on the features described in this procedure, refer to the following topics in the RobotExpert Reference Manual:
• Tools→Placement→Tool Placement Manipulator
• Tools→Placement→Relocate
• Tools→Placement→Fast Placement
Basic Tasks Measurements
Measurements
Point-to-Point Distance
This procedure demonstrates how to measure the point-to-point distance between two points 1. Click Edit→Selection→Component Pick Level.
2. Click Point to Point Distance on the Measurements toolbar. The Point to Point Distance dialog appears.
3. Click First object and then pick a point in the Graphic Viewer. The name of the object on which the point is located and its exact location are displayed in the First Object field.
4. Pick another point in the Graphic Viewer - the name of the object on which the point is located and its exact location are displayed in the Second Object field.
Basic Tasks Measurements A measuring line connecting the two points is displayed in the Graphic Viewer. The exact distance
between the two points is calculated and displayed beside the measuring line. Additionally, the Result area displays the distance, the vector distance, and the rotation delta difference for each of the X, Y, and Z axes.
5. Check Show dX, dY, dZ lines in the Graphic Viewer to display the delta distance lines and distances (dX in red, dY in green, and dZ in yellow) in the Graphic Viewer.
6. Click Close to close the Point to Point Distance dialog.
References
For additional information on the features described in this procedure, refer to the following topics in the RobotExpert Reference Manual:
Tools→Measurements→Point to Point Distance
Basic Tasks Measurements Minimal Distance
This procedure demonstrates how to measure the minimal distance between two points
1. Click Minimal Distance on the Measurements toolbar. The Minimal Distance dialog appears.
2. Click First object and then pick an object in the Graphic Viewer, Object tree, or Groups Viewer. The name of the object and its exact location are displayed in the First Object field.
3. Pick another object in the Graphic Viewer, Object tree, or Groups Viewer - the name of the object and its exact location are displayed in the Second object field.
A distance line connecting the two objects is displayed in the Graphic Viewer. The exact distance between the two points is calculated and displayed beside the measuring line. Additionally, the Result area displays the distance and the vector distance between the objects.
Basic Tasks Measurements 4. Check Show dX, dY, dZ lines in the Graphic Viewer to display the delta distance lines and distances
(dX in red, dY in green, and dZ in yellow) in the Graphic Viewer.
References
For additional information on the features described in this procedure, refer to the following topics in the RobotExpert Reference Manual:
Tools→Measurements→Minimal Distance
Basic Tasks Recording Information in Snapshots