IAI MSEL, Instruction Manual, Page: 223 / 234

Chapter 7
Appendix
215
(2) Positioning using Tool Coordinate System Offset
Select the work coordinate system to be used and perform positioning.
When selecting the work coordinate system number in SEL program, use SLTL Command.
Also, the selected work coordinate system number is valid after program complete and after
rebooting.
1) When having the tool tip on Tool Coordinate System No. 1 to perform PTP positioning
from Position No. 5 to No. 6 in Work Coordinate System No. 1;
Work Coordinate
System No.
Offset
X [mm] Y [mm] Z [mm] R [deg]
1 200.000 120.000 0.000 -25.000
Tool Coordinate
System No.
Offset
X [mm] Y [mm] Z [mm] R [deg]
1 10.000 21.000 -6.000 45.000
Position No.
Coordinate Data
Axis1(X) Axis2(Y) Axis3(Z) Axis4(R)
5 0.000 0.000 0.000 0.000
6 50.000 40.000 0.000 -45.000