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STE 58760
－ －
3-49
2) In case the robot is guided for teaching coordinate data:
Guide the robot to a position to be taught and press the [Exec] key so that the present
robot position is stored.
f) Stop the data editor
To return the system back 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.
(2) Selecting tool coordinate system
To perform a linear interpolation or circular interpolation in accordance with the end of the end
effector mounted on the robot, use the tool coordinate system. When the tool coordinate
system has not been set, the robot position is' calculated at the center of the flange surface of
the tool shaft.
The tool 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).
b) By pressing the [F4] key, the edit data are changed from the position data (POINT/World)
to the coordinate data (TRANS) and the load data (PAYLOAD). Select the coordinate
data (TRANS). At that time, the coordinate data which have been taught are displayed.
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 ----------------------------------------------
TABLE1