IAI PSEL, Operation Manual

Page: 545 / 1062

1. Preparation in
Advance
51
2) Positioning Using Tool Coordinate System Offset
Perform positioning after selecting the tool coordinate system you want to use.
To use a tool coordinate system number in the SEL program, use a SLTL command.
The tool coordinate system selection number that has been selected will remain effective
even after the program ends or after the system-memory backup battery has been set and
power has been reconnected. (For XSEL-RX/SX/RXD/SXD, battery is not necessary.)
The orientation of the tool coordinate system axis is always the same as the orientation of the
base coordinate system axis on Three-Axis Type SCARA ROBOT (IXP-3N****). As there is no
R axis, the control of the orientation (posture) of the tool cannot be conducted. Therefore,
there may be a case the tool end may not be the reachable point at positioning. Also, the
setting of the tool coordinate system offset on the R axis will be ignored.
(Example 1) Position the tip of the tool on Tool Coordinate System No. 1 to Position No. 5
and No. 6 on Work Coordinate System No. 1 via PTP operation.
Program example
:
:
:
SLWK
1 Select Work Coordinate System No. 1
SLTL 1 Select Tool Coordinate System No. 1
PTPR Specify right arm of PTP target arm system
MOVP 5 Move to Position No. 5.
MOVP 6 Move to Position No. 6.
:
:
:
The Z-axis position at the tip of the tool is as follows:
Position No. 5
Zb = 0
Position No. 6 Zb = 20
The figure on the left is viewed from above.
Position No. 5
Position No. 6