Confirming the operation
2-31
3) Selection of the work coordinates number
Press the [FUNCTION] keys, and display "W: JUMP" function. Press the function key corresponding to
"W: JUMP"
Press numeral key [1] - [8] and specify the work coordinates number. The coordinate value of the speci-
fied work coordinates system is displayed.
4) The teaching of the work coordinates system
Teach the three points shown in
. Confirm the name currently displayed on the "TEACHING
POINT" at the upper right of the screen. If it differs, press the function key corresponding to each
point(WO, WX, WY) to teach. Move the robot's arm by jog operation (other jogging movement), and
press the function key corresponding to "TEACH."([F1]) The confirmation screen is displayed.
Presses the function key corresponding to"Yes", the robot's current position is registered, and the regis-
tered 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
<WORK COORD> WORK NUMBER (1)
TEACHING POINT (WO)
X: 0.00
Y: 0.00
Z: 0.00
123
W.JUMP W.GRID
CLOSE
<WORK JUMP>
CHOOSE ONE OF THE WORK NUMBER
1-8.
123
CLOSE
The screen is the example which specified
the work coordinates number 2. ("2" at the
upper right of the screen)
Operation will be canceled if the
[CLOSE] key is pressed.
<WORK JUMP>
CHOOSE ONE OF THE WORK NUMBER
1-8.
123
CLOSE
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 0.00
Y: 0.00
Z: 0.00
123
W.JUMP W.GRID
CLOSE
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
X: 0.00
Y: 0.00
Z: 0.00
123
TEACH
WX
WY
DEFINE
Specify the teaching point [WO],[WX],[WY]
teaching the position [TEACH]
<WORK COORD> WORK NUMBER (2)
TEACHING POINT (WO)
RECORD CURRENT POSITION.
OK?
123
Yes
No
<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
