AN-306 FRAME 22 - 4 Axis Palletizing Robot
The FRAME 22 transformation allows an XYZ Robot with 1 axis wrist to be easily programmed.
This document gives an example of how to use the FRAME 22
The following picture shows the type of machine:
The robot joints must be datumed to the correct absolute position for the frame 22 to function correctly.
If the Robot has absolute encoders, the datum will not be needed after each power cycle.
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