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STE 58760
－ －
3-46
TABLE1 =10.000,10.000,0.000,0.000
TABLE2 =20.000,20.000,0.000,0.000
* TABLE3 =30.000,30.000,0.000,0.000
TABLE4 =40.000,40.000,0.000,0.000
TABLE5 =50.000,50.000,0.000,0.000
----- TRANS ----------------------------------------------
Defined the new work : TABLE3
k) Quitting teaching operation of coordinate data
By pressing the [F4] key, the edit data are changed from the coordinate data (TRANS) to
the load data (PAYLOAD) and the position data (POINT/World). To subsequently teach
other data, select the mode according to the data to be taught.
To exit to the program edit mode, press the [F1] key.
To quit the file edit mode, press the [X] key while the [Alt] key is held.
3.7.3 Selecting Coordinate System in Data Editor Mode
A coordinate system can be selected in the data editor mode. Before selecting each
coordinate, it is necessary to enter the system in the data editor mode in accordance with the
procedure described in 3.7.2 (2) a) to f).
(1) Selecting work coordinate system
Position data to be taught to the robot are stored as a coordinate value at the tool end in the
work coordinate system. Thus, to teach the robot position, it is necessary to select the
required coordinate system. In the initial state, the work coordinate system accords with the
world coordinate system. In case the work coordinate system is not required, it is not
necessary to select the work coordinate system. The coordinate data used for the work
coordinate system should have been specified as the work coordinate system in advance. For
details for specifying the work coordinate system, see 3.7.2 (2) j). The work coordinate system
is selected in the following manner.
a) Enter the system in the data editor mode in accordance with the procedure described in
3.7.2 (2) a) to f).