10.3 Example of Conversion
10-5
Example 2: Convert the master tool coordinate system in the job other than the operating job
Register the position of master robot (station) that has specified the robot coordinate system
shift value to SREFP1, then convert the shift value using the position data in SREFP1.
JOB: CONVSFT
Currently active job
Line
Step
0
0
NOP
1
1
SREFP1
2
GETS PX005 $PX021
3
CONVSFT P000 P001 PX005
MTF
•••••••••• Execute the master tool
coordinate system shift value
conversion at the master side
position of PX000.
4
END
Line
Step
0
0
NOP
1
1
MOVJ
V
J=50.00
+MOVJ VJ=50.0
2
CALL CONVSFT
•••••••••• Excute a job that converts a shift
value to the shift value of the
master tool coordinate system.
3
SSFTON P000
•••••••••• Coordinated shift starts
4
2
SMOVL V=1000
Register the move instruction
between SSFTON and SSFTOF
with the coordinated instruction
(SMOVL/SMOVC)
+MOVJ
5
ARCON ASF# (1)
6
3
SMOVL V=100
+MOVJ
7
4
SMOVL V=100
+MOVJ
8
ARCOF
9
SSFTOF
•••••••••• Coordinated shift ends
10
5
SMOVL V=500
+MOVJ
11
6
MOVJ V J=50.00
+MOVJ VJ=50.0
12
END
Create the job for conversion with the coordinated job.
If the job to be shifted is the coordinated job of the robot and the station, the job to be con-
verted should also be the coordinated job of the robot and the station.
NOTE
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