ABB BDD110 HNLP205879R1通讯模块
工作对象坐标系工作对象通常表示物理工件。它由两个坐标系组成：“用户”框架和“对象”框架，其中“对象”是前者的子对象。编程机器人时，所有目标（位置）都与工作对象的对象框架相关。如果未指定其他工作对象，则目标将与默认Wobj0相关，Wobj0始终与机器人的基本框架一致。如果工件的位置已更改，则使用工作对象可以方便地调整带有偏移的机器人程序。因此，工作对象可用于校准脱机程序。如果夹具/工件在实际工位中相对于机器人的位置与离线工位中的位置不完全匹配，则只需调整工件的位置。
WorkObject coordinate system
The workobject normally represents the physical work piece. It is composed of two
coordinate systems: the User frame and the Object frame, where the latter is a child to the
former. When programming a robot, all targets (positions) are related to the object frame of
a workobject. If no other workobject is specified, the targets will be related to the default
Wobj0, which always coincides with the base frame of the robot.
Using workobjects provides the chance to easily adjust robot programs with an offset, if the
location of the work piece has been changed. Thus, workobjects can be used for calibrating
offline programs. If the placement of the fixture/work piece relative to the robot in the real
station does not completely match the placement in the offline station, you simply adjust the
position of the workobject.
