STE 58760
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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.
①By 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.
②Teach 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 |
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"LEFTY" | : Left shoulder type |
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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.