ABB IRB6400 coordinate system test
This video shows how using a user coordinate system can be used to perform the same series of moves in a different location.
The program will first move to a "home" position (pHome) and then perform a circular move in the Y-Z plane about the X-X axis for its respective coordinate system. The same routine also moves along the positive and negative for each respective axis in the current coordinate system. The program will then perform the same routine, however, the instruction "PDispSet" is used to activate a different coordinate system prior to execution. Using PDispSet allows the use of the same routine as before, but all the movements are displaced to the new coordinate system.
Robot movements were programmed offline in Gedit, using the RAPID programming language.