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STE 58760
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3-56
c) By using the cursor keys [
↑
] and [
↓
], reversely indicate the coordinate name of the
coordinate data to be selected and then press the [Exec] key. The coordinate data being
selected are selected as the tool coordinate system and then the system returns back to
the utility mode. At that time, the utility mode screen appears.
To not select the tool coordinate system, press the [Esc] key.
d) Quit the utility mode.
By pressing the [Esc] key, the system exits from the utility mode and displays the previous
screen.
3.7.5 Selecting Coordinate System Using Robot Language
The robot language is provided with three system variables "WORK," "BASE," and "TOOL"
according to the work, base, and tool coordinate systems.
By substituting coordinate data into each system variable, the robot coordinate system can be
changed.
For details of the robot language, see "ROBOT LANGUAGE MANUAL."
3.7.6 Timing of Changing Coordinate System
The timing of changing the coordinate system of the robot is as follows.
①
When a coordinate system is selected in the data editor mode or the utility mode, the
selected coordinate system becomes valid.
②
When coordinate data are substituted into system variables TOOL and BASE in the robot
language, after the existing operation is completed, the selected coordinate becomes valid
(the short cut operation is cancelled).
③
When coordinate data are substituted into system variables TOOL and BASE by using
WITH clause in the robot language, the coordinate system is selected before the existing
operation is completed.
④
When coordinate data are substituted into system variable WORK in the robot language,
the work coordinate system becomes valid upon execution of the operation command in
the robot language.
⑤
When a file the same as the execution file is edited, the coordinate data which have been
selected as the present system setting value are still selected.
When a file different from the execution file is edited, the tool and base coordinate systems
and the work coordinate system are initialized to [.SYSTEM] and [.WORLD], respectively.