OPERATOR’S MANUAL
series Robot Controller
3.2 Guidance
Coordinates
(1)
Function
Selects a coordinate system in which the robot is guided, from among the joint,
tool, work and world coordinate systems. Guide will be made possible along
the selected coordinate system.
(2)
Procedures
(a) Step 1:
Selection of tool or work coordinate system.
Select the work or tool coordinate system used for [TRANS] of the utility
function. For details, see Section 12.
When using the joint or world coordinate system, this operation is
unnecessary.
(b) Step 2:
Coordinate selection.
Each time the COORDINATE key on the teach pendant is pressed, JOINT,
TOOL, WORK, and WORLD are selected in turn with the appropriate LED
illuminated. The initial setting is JOINT.
(3)
Cautions
• For each coordinate system of the robot, see the Language Manual.
• Unless a tool, base or work coordinate has been taught to the robot, the tool
coordinate system matches the flange face, and the work and world
coordinate systems coincide with the base coordinate system.
• When using the tool or work coordinate system, make sure what tool and
work have been selected.
STE 80720
– 3-3 –
