STE 58761
3.2GUIDANCE COORDINATES
(1)Function
Selects a coordinate system in which to guide the robot from among the joint coordinates, tool coordinates, work coordinates and world coordinates.
(2)Input format None
(3)Comments
Refer to the Introductory Manual for information on robot coordinate systems.
If a tool, base or work coordinate system has not been taught to the robot, the robot will assume:
(a)The tool coordinate system coincides with the surface of the hand mounting flange.
(b)The work and world coordinate systems coincide with the base coordinate system.
When using the tool or work coordinate system, make sure you have selected the right one.
(4) Procedure
(a)Step 1: Select the tool and work coordinates
It is possible to have several work and/or tool coordinate systems. Therefore, you must select which ones you are going to use with the WORK and TOOL utilities. For details, see Chapter 12, "Utilities."
If you are using joint or world coordinates, this operation is unnecessary.
(b)Step 2: Select the coordinates
Push the "Coordinate" key on the teach pendant. Each time you push this key, the lamp will cycle one step between World, Work, Tool and Joint.
The initial setting is Joint.
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