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STE 58760
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----- POINT/Work:TABLE3 -------- no exist data
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e) Teach the position for the selected work coordinate system.
When the position data are taught, they are stored in the specified position in the work
coordinate system. The position data are taught in the following manner.
①
By using the alphanumeric keys, input position data name to be taught. The input
characters are displayed at the bottom of the LCD display.
When position data have been taught, the position data name currently selected is
displayed at the bottom of the LCD display.
To teach a new position, press the [Esc] key and cancel the position name. After that,
input a desired position data name.
To change the position data which have been taught, by using the cursor keys [
↑
] and [
↓
],
reversely indicate the position data name to be changed and then select it.
②
Teach the desired position.
1) In the case that the position data are input by numeric values:
Input values of the axes X, Y, Z,
C, T, and orientation following the position data name
displayed at the bottom of the LCD display.
"POINT 1
= 10, 20, 30, 40, 0/LEFTY"
Position data name X Y Z C T orientation
X,Y,Z,C,T : Coordinate values in work coordinate system.
Orientation : Orientation of arm of horizontally articulated type robot
"RIGHTY" : Right shoulder type
"LEFTY" : Left shoulder type
Values omitted in the fields are treated as 0. When the orientation is omitted, the
orientation at the position is not defined. To omit part of the data being taught, input "*" for
fields which are not changed.
Last, by pressing the [Exec] key, the coordinate data are stored.