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4
Edit
4-1
1. Point editing
When selecting [Edit] - [Point Edit] from the initial screen, the "POINT EDIT" screen will appear.
One point consists of 6 axes data (axis 1, axis 2, axis 3, axis 4, axis 5, and axis 6).
For the point data that is set in the Cartesian coordinate system ("mm" units), the hand system flag, first arm
rotation information, and second arm rotation information can be set as expansion settings.
Point data format
Axis 1
Axis 2
Axis 3
Axis 4
Axis 5
Axis 6
Hand system
(FLG)
fxxxxxx
fyyyyyy
fzzzzzz
frrrrrr
faaaaaa
fbbbbbb
t
f ......................................Coordinate sign: + / - / space
xxxxxx/../bbbbbb .............Numeric value of up to 8 digits. When the numeric value includes a dot, the
coordinate system becomes that in "mm" units.
t ......................................Hand system flag of the expansion settings of SCARA type robots
0 : No setting (Conforms to the selected arm type setting.)
1 : Right-handed system
2 : Left-handed system
• The hand system flag is valid only when the coordinate system in "mm" units is specified.
• When a numeric value other than "1" and "2" is specified for the hand system flag or when no numeric value
is specified, the hand system flag setting becomes none (0).
• When a numeric value other than "0", "1", and "-1" is specified for the first arm rotation information and
second arm rotation information or when no numeric value is specified, the setting becomes "0".
The point number can be specified in a range of 0 to 29999.
NOTE
When using multiple robots, the point data is used commonly.
The current position (upper portion) and axis data to two points are displayed on the screen. To see other data,
use the cursor keys to scroll the screen.
Press the cursor up or down key to scroll up or down one line.
When the scroll function is ON (this function is changed every time the SCROLL ON key is pressed), press the
cursor up or down key to scroll up or down one screen (two points).
CAUTION
Repetitive positioning accuracy in the robot specifications does not apply to the stop position of a different hand
system if it is used to move to a point data on the Cartesian coordinates (units: mm).
■
"POINT EDIT" screen
7. Hand system
4. Coordinate unit system
6. Point name
8. First arm and second
arm rotation information
2. Robot setting status
3. Current position
8. Guide line
1. Hierarchy
5. Point number
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