OPERATOR’S MANUAL
series Robot Controller
5.5.3
Teaching of Coordinate Data [TEACH]
(1) Function
Guides the robot tool tip to the teach point, then registers the current position
coordinate data of the robot in the coordinate data indicated by the main cursor.
(2) Procedures
Assume that you are going to teach the current position coordinate data of the
robot in the coordinate data of "TRANS00002."
(a) Step 1: Command selection
Call the detailed coordinate data display of "TRANS00002."
T R A N S 0 0 0 0 2
[
3 /
1 1 ]
X : 5
0
0 . 0
0 0
Y :
0 . 0
0 0
Z :
0 . 0
0 0
C :
0 . 0
0 0
T R A N S 0 0 0 0 2
S A V E
T E A C H
D I R
W O R K
F I N D
>
Press [TEACH], and the display as shown below appears.
T R A N S 0 0 0 0 2
[
3 /
1 1 ]
X : 5
0
0 . 0
0 0
Y :
0 . 0
0 0
Z :
0 . 0
0 0
C :
0 . 0
0 0
T R A N S 0 0 0 0 2
1 P N T
2 P N T
Teaching of coordinate data comes in the following two (2) types.
1. 1-point teaching mode in which the origin and direction are taught at the
same time.
2. 3-point teaching mode in which the origin and direction are taught
separately in three (3) steps.
Select a desired teaching mode now.
STE 80720
– 5-74 –
