YASKAWA Motoman UP6, Инструкция по эксплуатации

Страница: 203 / 561

3.10 User Coordinates Setting
3-45
3.10
User Coordinates Setting
3.10.1
User Coordinates
"
Definition of User Coordinates
User coordinates are defined by three points that have been taught to the manipulator through
axis operations. These three defining points are ORG, XX, and XY, as shown in the diagram
below. These three points of positional data are registered in a user coordinate file.
ORG is the home position, and XX is a point on the X-axis. XY is a point on the Y-axis side of
the user coordinates that has been taught, and the directions of Y- and Z-axes are determined
by point XY.
"
User Coordinates File
Up to 24 kinds of user coordinates can be registered. Each coordinate has a user coordinate
No. and is called a user coordinate file.
It is important that the two points ORG and XX be taught accurately.
User coordinate definition point
ORG: Home position
XX: Point on the X-axis
XY: Point on the Y-axis
ORG
X-axis
XY
XX
Z-axis
Y-axis
N OT E
User coordinate file 24
User coordinate file 4
User coordinate file 3
User coordinate file 2
User coordinate file 1