About Coordinate Frames/Offsets
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Coordinate system frames in robotics are similar to coordinate system offsets in a CNC machine. A frame is a way to change what physical position the robot will move to when it is commanded to go to, for instance, [0, 0, 0, 0, 0, 0].
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The base frame is located near the base of the robot and is not adjustable. You can think of the robot’s base frame like you would a milling machine’s G53 coordinate location. It’s the machine’s view of the world, onto which other frames are applied.
User Frames
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Like the G54, G55, etc. work offsets in the CNC world, robot user frames exist to make robot programming easier. A user frame allows you to align the robot's XYZ coordinate system around a fixture or workpiece that may be translated and/or rotated with respect to the base frame of the robot.
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Because most CAM programs output X, Y, Z, and occasionally A, B, and C coordinates, any CAM-generated robot program will use a user frame.
Tool Frames
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Milling machines have tool offsets, which are usually a Z-only value equal to the length of the tool as measured from the spindle nose to the tool tip. Lathe tools have both X and Z offsets. A robot tool frame has 6 possible offsets, making it more complex to understand than a simple milling machine tool offset.
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