ABB E3EB HENF315129R1 DCS系统卡
训练对象也用于协调运动。如果工作对象连接到机械单元（系统使用协调运动选项），即使机械单元移动工作对象，机器人也会在工作对象中找到目标。在下图中，灰色坐标系是世界坐标系，黑色坐标系是工作对象的对象框架和用户框架。这里，用户框架位于工作台/夹具上，对象框架位于工件上。用户坐标系用户坐标系（UCS）用于创建您选择的参考点。例如，您可以在工件中的战略点创建UCS，以便于编程。轴配置目标被定义并存储为WorkObject坐标系中的坐标。当控制器计算机器人轴的位置以达到目标时，它通常会找到一个以上配置机器人轴的可能解决方案。
Workobjects are also used for coordinated motions. If a workobject is attached to a
mechanical unit (and the system uses the option for coordinated motions), the robot will find
the targets in the workobject even when the mechanical unit moves the workobject.
In the picture below the grey coordinate system is the world coordinate system, and the black
ones are the object frame and the user frame of the workobject. Here the user frame is
positioned at the table/fixture and the object frame at the workpiece.User Coordinate Systems
User Coordinate Systems (UCSs) are used for creating reference points of your choice. For
example, you can create UCSs at strategic points in the work piece to facilitate programming.Axis configurations
Targets are defined and stored as coordinates in a WorkObject coordinate system. When the
controller calculates the position of the robot axes for reaching the target, it will often find
more than one possible solution to configuring the robot axes.
