Confirming the operation 2-41
Presses the function key corresponding to"Yes", the robot's current position is registered, and the
registered coordinates value is displaye. Operation will be canceled if the [CLOSE] key is pressed.
Teach the three points, WO, WX, and WY, by the same operation.
The position data taught here is each registered into the following parameters. ("n" means the work coor-
dinates numbers 1-8)
WO= parameter: WKnWO
WX= parameter: WKnWX
WY= parameter: WKnWY
5) Setting of work coordinates (definition)
If the function key corresponding to "DEFINE" ([F1]) is pressed, the work coordinates system will be
calculated using the three points, and the result will be displayed.
The alarm occurs if the work coordinates system is incalculable. (There are the three points on the straight
line, or the two points have overlapped) In this case, reset alarm and re-teach the three points.
This work coordinate data is registered into parameter: WKnCORD. ("n" means the work coordinates
numbers 1-8)
If the function key corresponding to "CLOSE" is pressed, it will return to the previous screen.
6) Finishing of setting the work coordinates
Press the [FUNCTION] keys, and display "CLOSE" function. Press the function key corresponding to
"CLOSE". Returns to the <MENU> screen.
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
RECORD CURRENT POSITION.
OK?
123
Yes
No
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 214.12
Y: -61.23
Z: 553.30
123
W.JUMP W.GRID
CLOSE
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 214.12
Y: -61.23
Z: 553.30
123
TEACH
WX
WY
DEFINE
<WORK COORD> WORK NUMBER (2)
WORK COORDINATES DATA
(3.53, -220.00, 5.14, 0.00, 0.
00, 0.00)
123
CLOSE
<WORK COORD> WORK NUMBER (2)
WORK COORDINATES DATA
(3.53, -220.00, 5.14, 0.00, 0.
00, 0.00)
123
CLOSE
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 214.12
Y: -61.23
Z: 553.30
123
TEACH
WX
WY
DEFINE
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 214.12
Y: -61.23
Z: 553.30
123
W.JUMP W.GRID
CLOSE
<EMHANCED>
1.SQ DIRECT 2.WORK COORD.
CLOSE
123
