Mitsubishi Electric MELFA RH-3CRH Series, Инструкция по эксплуатации

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2-34 Confirming the operation
2 Unpacking to Installation
(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 (R33TB) is shown in the following.
(Parameter: Setting the coordinate value to WKnCORD ("n" is meaning the number (1-8) of work
coordinates) 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).
Fig.2-15:Setting of the work coordinates system (teaching point)
The setting (definition) method of the work coordinates system is shown as following.
+Zw
+Xw
+Yw
+Z
+Y
+X
Robot coordinates
system
Workpiece
WY
WO
WX
work coordinates
Notes) The figure is the example
of RV-4FR, but other types
are the same
The jogging movement
based on this work is
possible.
< 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.
[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 direction
of the hand is the same)