Mechanisation and robotics
JOINT moves physical robot axes J1–J6. WORLD uses the fixed robot frame axes. UFRAME uses a user frame attached to the fixture/component — axes are fixed relative to the component but may be translated and rotated relative to WORLD. TOOL uses the local axes of the current TCP. W/P/R follow FANUC convention: W=X, P=Y, R=Z — therefore WORLD, UFRAME and TOOL behave differently when a component is tilted or clamped at an angle.
Open interactive module →Topic overview
JOINT moves physical robot axes J1–J6. WORLD uses the fixed robot frame axes. UFRAME uses a user frame attached to the fixture/component — axes are fixed relative to the component but may be translated and rotated relative to WORLD. TOOL uses the local axes of the current TCP. W/P/R follow FANUC convention: W=X, P=Y, R=Z — therefore WORLD, UFRAME and TOOL behave differently when a component is tilted or clamped at an angle.
The robot does not seek a straight TCP path. A specific motor moves, so the TCP describes an arc or complex path. J4–J6 mainly change torch orientation.
+X, +Y and +Z always point in the same cell directions. W/P/R rotations follow FANUC logic: W about X, P about Y and R about Z in the fixed WORLD frame; the TCP remains in position.
UFRAME is the user coordinate system of the workholding. +Xᵤ, +Yᵤ and +Zᵤ follow the rotated component frame, not WORLD and not the torch. In the trainer, UFRAME is deliberately translated and rotated so the difference is visible.
What the module covers
- Redesigned trainer: translations and rotations are separated by coordinate frame.
- Top view · WORLD X/Y
- Side view · arm R/Z plane
- Joint movement J1–J6
- Fixed robot frame
- Component / fixture frame
- Local TCP frame
- Robotic welding: movement, suitability, standards and production implementation
Continue with the practical module.
Open this topic directly in the interactive WeldScope portal.