2-30
Confirming the operation
(6) Work jog operation
Setting of the work coordinates system is necessary.
By this jog operation, robot can be move along with the direction of work (or working table etc.), so teaching
operations get easier.
When jog operation, select by which work coordinates the robot moves
The setting method of the work coordinates system using T/B (R32TB) is shown in the following.
(Parameter: Setting the coordinate value to WKnCORD ("n" is meaning the number (1-8) of work coordi-
nates) can also set up the work coordinates system. Refer to the separate manual "Detailed Explanation of
Functions and Operations" for details of parameter.)
The work coordinates system teaches and sets up the three points (WO, WX, WY).
[Supplement] : The coordinate values which use all three teaching points for setting of the work coordinates
system are each only X, Y, and the Z-axis. Although the coordinate value of A, B, and C axis is not used,
positioning will get easy if the XYZ jog or TOOL jog movement is effected with the same value. (The direc-
tion of the hand is the same)
Fig. 2-14: Setting of the work coordinates system (teaching point)
The setting (definition) method of the work coordinates system is shown in the following.
1) Select "6.ENHANCED" screen on the <MENU> screen.
2) Press the [2] keys in the menu screen and select "2. WORK COORD."
-
X
+
Y
+
Y
W
+
Z
+
Z
W
-
Z
X
Y
+
X
W
WX
WY
WO
+
-
work coordinates
Work
The jogging movement
based on this work is possible.
<
ǂǂ
Teaching point>
WO: Work coordinates system origin
WX: Position on the "+X" axis of work
coordinates system.
WY: Position at the side of "+Y" axis on
the X-Y plane of work coordinates system.
Robot coordinates system
<MENU>
1.FILE/EDIT 2.RUN
3.PARAM. 4.ORIGIN/BRK
5.SET/INIT. 6.ENHANCED
CLOSE
123
<EMHANCED>
1.SQ DIRECT 2.WORK COORD.
CLOSE
123
The screen shows the coordinate value of the origin
(WO) of the work coordinates number 1.
<EMHANCED>
1.SQ DIRECT 2.WORK COORD.
CLOSE
123
<WORK COORD> WORK NUMBER (1)
TEACHING POINT (WO)
X: 0.00
Y: 0.00
Z: 0.00
123
TEACH
WX
WY
DEFINE
