Omron CS1W-MCH71 -, Руководство по эксплуатации

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Coordinate System
Section 9-3
9-3 Coordinate System
9-3-1 Machine Coordinates and Workpiece Coordinates
There are two types of coordinate systems:
• Machine coordinate system:
This is the coordinate system unique to the system that is determined by
defining an origin.
• Workpiece coordinate system:
This is the coordinate system unique to the work that is determined by
adding an offset to the machine coordinate system. There are 3 of them
for each axis. The offset of the workpiece coordinate system is deter-
mined by executing OFFPOS command, and executing WORK command
enables the workpiece coordinate system.
Basic Item • The offset value (offset value set in OFFPOS command) is the data for
each axis and motion programs or motion tasks do not influence it.
• The coordinate system select (coordinate system type or number set in
ORIGIN or WORK command) is the data for each motion program and
axes or motion tasks do not influence it.
When starting New
Program Operation When a new main program operation is started (the first execution after the
power is turned ON or execution in Start Mode = 0 or 3), the machine coordi-
nate system will be always used. The offset value of the previously executed
program will be used, however, the coordinate system select will not be inher-
ited to the new program.
When calling a Sub-
program • When a sub-program is called, the offset value and coordinate system
select of the main program will be inherited to the sub-program.
• When returning to the main program from the sub-program, the coordi-
nate system select will be inherited.
4000
(0)
(9000)
(15000)
0
−
3000
10000
12000
15000
14000
20000
20000
ORIGIN;
ABL MOVE [J01]14000 [J02]9000;
ABL MOVE [J01]20000 [J02]15000; 1
:
ORIGIN;
ABL MOVE [J01]14000 [J02]9000;
OFFPOS C1 [J01]4000 [J02]-3000;
WORK C1;
ABL MOVE [J01]20000 [J02]15000; 2
J01
J02
Machine
Coordinate
System Workpiece
Coordinate System
Positioning to (20,000, 15,000)
Before execution of WORK command (1)
After execution of WORK
command (2)
Machine and Workpiece Coordinate Systems