STE 85412
5-27
TP3000
series Robot Controller
Step 2: Using coordinate data as the work coordinate system
When using coordinate data as the work coordinate system, enter setting values in
elements as if viewed from the world coordinate system.
Teaching can be performed to the work coordinate system using functions such as in
Section 5.5.4, "Coordinate Data 1-Point Teaching", Section 5.5.5, "Coordinate Data
2-Point Teaching (SCARA), and Section 5.5.6, "Coordinate Data 3-Point Teaching (6
axes).
Also, when using coordinate data as the work coordinate system, please add position
data as necessary.
(For information about the position data addition procedure, please see Section 5.4.6,
"Adding Position Data to the Coordinate System".)
Step 3: Using coordinate data as the tool coordinate system
When using coordinate data as the tool coordinate system, enter setting values in
elements when viewed from the mechanical interface coordinate system. When using
coordinate data as the tool coordinate system, unlike the work coordinate system,
various teaching functions cannot be used.
Directly enter a numeric value in each element according to the hand design.
Caution
If the base coordinates have not been set up, the base coordinates and the world
coordinates overlap.
5.5.2
Setting Up and Clearing Work Coordinates
Functional Explanation
Sets up the specified coordinates as the work coordinates. Also clears the work
coordinates that have been set up.
Operating Procedure
Step 1: Call the Work Coordinate Setup key.
Press the [JOG TRANS] key which is displayed on the Function menu during coordinate
data editing.
The [WORK] key is displayed on the key sheet.
