5-444
Movement parameter
5Functions set with parameters
Work coordinates
WKnCORD
"n" is 1 to 8
Real value 6 The work coordinates for work jog operation
(X,Y,Z,A,B,C) Unit: mm or degree
It is used as standard coordinates and work coordinate data in
the work jog.
When the software version is R5(F-Q series)/S5 (F-D series) or
later, it is also used as the control point in the Ex-T control (Ex-T
coordinates).
Refer to
for Ex-T control.
When using it as work coordinate data, the valid axial element
differ depending on the robot type.
Refer to
Page 473, "5.7 About Standard Base Coordinates"
.
The work coordinates defined by operation of T/B are set.
However, inputting the coordinate value into this parameter can
also define work coordinates. In this case, each coordinate value
of the three teaching points for defining the work coordinates is
cleared by 0. (Parameter: WKnWO, WKnWX, WKnWY ("n" is 1-
8))
Note) To manage easily, you should teach work coordinates in
the condition that not convert the base coordinates. (Base
coordinates and the world coordinate are in
agreement.)Especially, it is necessary when defining two
or more work coordinates.
(0.00, 0.00, 0.00,
0.00, 0.00, 0.00)
WKnWO
"n" is 1 to 8
Real value 3 Set the position of the work coordinates origin as a teaching
position of work coordinates. (Correspond to "WO" of the teach-
ing operation by T/B. Refer to above figure)
(X, Y, Z) Unit: mm
Notes) The work coordinates are not defined by merely inputting
this coordinate value. Calculate the work coordinates by
performing [DEFINE] on the TB work coordinate setting
screen or by performing [Write] on the RTToolBox2 work
coordinate parameter screen.
(0.00, 0.00, 0.00)
WKnWX
"n" is 1 to 8
Real value 3 Set the position of "+X" axis of work coordinates as a teaching
position of work coordinates. (Correspond to "WX" of the teach-
ing operation by T/B. Refer to above figure)
(X, Y, Z) Unit: mm
Notes) The work coordinates are not defined by merely inputting
this coordinate value. Calculate the work coordinates by
performing [DEFINE] on the TB work coordinate setting
screen or by performing [Write] on the RTToolBox2 work
coordinate parameter screen.
(0.00, 0.00, 0.00)
WKnWY
"n" is 1 to 8
Real value 3 Set the position at the side of "+Y" axis on the X-Y plane of work
coordinates. (Correspond to "WY" of the teaching operation by
T/B. Refer to above figure)
(X, Y, Z) Unit: mm
Notes) The work coordinates are not defined by merely inputting
this coordinate value. Calculate the work coordinates by
performing [DEFINE] on the TB work coordinate setting
screen or by performing [Write] on the RTToolBox2 work
coordinate parameter screen.
(0.00, 0.00, 0.00)
Parameter
Parameter
name
No. of arrays
No. of characters
Details explanation
Factory setting
+Zw
+Xw
+Yw
+Z
+Y
+X
Base coordinates
Work coordinates
WKnCORD
Teaching point: WO
WKnWO
Work
Teaching point: WX
WKnWX
Teaching point: WY
WKnWY
