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ManualsBrandsNordson ASYMTEK ManualsEquipmentCentury Series C-741 - Operations Manual
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Operation 6-7
6.6.2 Coordinate Systems
All positioning in the workcell is done with reference to sets of position coordinates, called Reference
Frames. As you face the front of the workcell, the X-axis is left to right, the Y-axis is front to rear, and the
Z-axis is up and down. Three different sets of Reference Frames are used: Robot Reference Frame,
Product Reference Frame and Pattern Reference Frame.
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Figure 6-3 Reference Frames
6.6.2.1 Robot Reference Frame
The Robot Reference Frame (
Figure 6-3, Rectangle A) is the set of coordinates (X, Y, and Z) that define
the robot's workspace. The origin (Home) of the Robot Reference Frame is a known point in the
workspace, defined by a set of limit switches.
6.6.2.2 Product Reference Frame
Product Reference Frames (
Figure 6-3, Rectangle B) exist within the Robot Reference Frame. ECXP uses
fixture constraint coordinates, plus the length and width of the product, to calculate the coordinates of the
product reference frame. The product reference frame origin is the Main Pattern Edit Frame.
" NOTE A product can be a board or a carrier containing one or more boards. If a carrier is
used, the dimensions of the carrier are used to calculate the product reference frame.
6.6.2.3 Pattern Reference Frame
Other than the Main Pattern Edit Frame, the origin coordinates of patterns (
Figure 6-3, Rectangle C) are
expressed as a set of coordinates in the Product Reference Frame. The pattern origin coordinates are
stored in the Pattern Reference Frame when the pattern is created.
6.6.2.4 Pattern Execution
The Main Pattern runs when the program is executed and contains the dispensing instructions. The Main
Pattern is placed at the Product Reference Frame origin, which is the front left corner of the workpiece.
Robot Reference Frame
Product Reference Frame
Reference Frame
Pattern
Actual View
Exploded View