Background Information

Coordinate systems – relationships

• WCS
  World Coordinate System.
• MCS
  Machine Coordinate System.
• UCS
  User Coordinate System.
• PCS
  Programmed Coordinate System. Workpiece.

Pick-and-Place: From warehouse to carrier

The workpieces must be taken from the warehouse and placed in the free carrier positions running on the conveyor belt.

Thereby,

• the storage place is defined within the WCS,
• the robot is located somewhere within the WCS,
• the robot can be controlled within its MCS,
• the conveyor belt is located somewhere in the WCS,
• on the conveyor belt a carrier can be located within the UCS,
• a workpiece can be located within its carrier within the PCS.

Pick-and-Place: From conveyor belt towards conveyor belt

The workpieces have to be taken from the upper conveyor belt and placed on the lower conveyor belt.

Thereby,

• the robot is located somewhere within the WCS,
• the robot can be controlled within its MCS,
• each conveyor belt is located somewhere in the WCS,
• workpieces on the conveyor belt can be located within a UCS.