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4
Edit
4-68
■
Comparison number 1 <PINT1>
■
Comparison number 2 <PINT2>
Sets the points to define the area.
Setting range
0 to 29999
Possible point number range to use is P0 to P29999. All the specified axes are the target of the area.
When the R-axis is specified, make sure that the R-axis data of comparison point is specified.
NOTE
• Use the same unit system for comparison point 1 and 2.
• An error occurs when no comparison points exist, or the comparison points are different in the unit system and
area check cannot be performed.
• If it is in such a state during automatic operation, the operation will be stopped and an error occurs. The area
check output where an error occurred will be off and automatic operation stops while an error occurring.
• All the specified axes are target of the area check. Give special attention to settings when there is a rotation axis.
• Make sure that the comparison point data ranges to a certain extent. If the two of comparison point data is
specified nearly equal, the area check may be unstable.
9. Standard coordinates
When selecting [Edit] - [Standard Coordinate] from the initial screen, the "STD COORD" screen will appear.
In this hierarchy, the standard coordinates can be set.
The standard coordinates for SCARA type robots are treated as Cartesian coordinates using the X-arm rotating
center as the coordinate origin.
The following operations and functions are enabled on SCARA type robots by setting the standard coordinates.
• Moving the robot arm tip in the direction of the Cartesian coordinates.
• Using PALLET definitions, SHIFT coordinates, and HAND definitions.
• Using commands requiring coordinate conversion, such as linear/circular interpolation and pallet movement
commands.
To set the standard coordinates, two methods shown below are available.
• Simple teaching
Align the first arm and second arm of the SCARA type robot on the straight line, and then input the lengths
of the first arm and second arm to set the standard coordinates.
• 3-point teaching
Perform the teaching of three points arranged on the line at equal intervals, and input the direction and
length from the start point to the end point so as to set the standard coordinates.
• 4-point teaching
Perform the teaching of four points that form a rectangle. The first point is specified as the teaching
origin and the positions of other 3 points are input relative to the first point.
* This method is different from that described in YRC operator's manual.
• Both handed system teaching
To set the standard coordinates, prepare two points that is separated 100 mm in parallel from the X-axis
or Y-axis of the new standard coordinates.
Set the two points to the values three times; the teaching points, the arm length, and the direction from
the start point to the end point.
For the start point, set twice the values above in the both handed system; the right- and left-handed
system.
For the end point, set the values once.
NOTE
The both handed teaching is the most recommended method, for this method is more easy to realize the high
precision than the other mothods.
Available version (REF) “9.4 Setting the standard coordinates by both handed system teaching”
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