Ex-T control
Appendix-679
The parameters related to the Ex-T coordinates (work coordinates) are listed in the table below.
When specifying the work coordinates (Ex-T coordinates) by three-point teaching using WKnWO, WKnWX,
and WKnWY, it is useful to set the tool data so that the reference position for teaching is used as control
point.
For how to perform three-point teaching using R33TB or R32TB, refer to "(6) Work jog operation" in "2.4
Confirming the operation" of the separate manual "ROBOT ARM SETUP & MAINTENANCE".
Parameter name
Details explanation
WKnCORD
"n" is 1 to 8
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. It is also used as the control point
in the Ex-T control (Ex-T coordinates).
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 (Ex-T 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.
WKnWO
"n" is 1 to 8
Set the position of the work coordinates (Ex-T coordinates) origin as a teaching position of work coordinates
(Ex-T coordinates). (Correspond to "WO" of the teaching operation by T/B. Refer to above figure)
(X, Y, Z) Unit: mm
Notes) The work coordinates (Ex-T coordinates) are not defined by merely inputting this coordinate value. Cal-
culate the work coordinates (Ex-T coordinates) by performing [DEFINE] on the TB work coordinate set-
ting screen or by performing [Write] on the RTToolBox2 work coordinate parameter screen.
WKnWX
"n" is 1 to 8
Set the position of "+X" axis of work coordinates (Ex-T coordinates) as a teaching position of work coordinates
(Ex-T coordinates). (Correspond to "WX" of the teaching operation by T/B. Refer to above figure)
(X, Y, Z) Unit: mm
Notes) The work coordinates (Ex-T coordinates) are not defined by merely inputting this coordinate value. Cal-
culate the work coordinates (Ex-T coordinates) by performing [DEFINE] on the TB work coordinate set-
ting screen or by performing [Write] on the RTToolBox2 work coordinate parameter screen.
WKnWY
"n" is 1 to 8
Set the position at the side of "+Y" axis on the X-Y plane of work coordinates (Ex-T coordinates). (Correspond
to "WY" of the teaching operation by T/B. Refer to above figure)
(X, Y, Z) Unit: mm
Notes) The work coordinates (Ex-T coordinates) are not defined by merely inputting this coordinate value. Cal-
culate the work coordinates (Ex-T coordinates) by performing [DEFINE] on the TB work coordinate set-
ting screen or by performing [Write] on the RTToolBox2 work coordinate parameter screen.
+X
-X
-Y
+Y
+Z
-Z
+Zw
+Xw
+Yw
Work coordinates
(Ex-T coordinates)
WKnCORD
Teaching point: WO
WKnWO
Teaching point: WX
WKnWX
Teaching point: WY
WKnWY
Base coordinates
