Toshiba STE 58760 instruction manual Selecting Coordinate System in Utility Mode

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STE 58760

3.7.4Selecting Coordinate System in Utility Mode

The work coordinate system and the tool coordinate system can be selected in the utility mode. However, coordinate data which can be selected as the coordinate system are those taught to a file.

The function for selecting the base coordinate system is not provided in the utility mode

(1) Selecting file

To select a coordinate system in the utility mode, a file where coordinate data have been taught should have been selected as an execution file.

To select the execution file, it is necessary to execute the "SELECT" command in the test operation mode or the internal automatic mode.

Once a file is selected as the execution file, even after the power is turned off, it is still selected. The execution file is lost under the following conditions.

When the program is cold-started.

When “RESET” is input by the “SELECT” command.

(2) Selecting work coordinate system

Coordinate data which can be selected as the work coordinate system should be specified as the work coordinate system. It is necessary to specify coordinate data to be used as the work coordinate system in accordance with 3.7.2 (2).

The work coordinate system is selected in the following manner.

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Contents Industrial Robot SR Series START-UP Manual - i - Preface For Euporean Union EU - iv - Table of Contents Changing File DATA・・・・・・・・・・・・・・・・・・・・ Backing UP FILES・・・・・・・・・・・・・・・・・・・・・ Chapter Before Operating SR Series Robot Overview- 1-2 - - 1-3 - - 1-4 - PTP - 1-6 - - 1-7 - - 1-8 - Outline of Operational Procedure -1-10- Specifications -1-12- -1-13- Coordinate System -1-15- System Configuration -1-17- -1-18- -1-19- STE -1-20- Names and Functions of SR7000 Controller Control PanelPower LED Fault LEDTeach Pendant -1-24- -1-25- -1-26- STE -1-27- -1-28- Chapter Power on to Manual Guidance Turning on Main Power Cold Starting- 2-3 - Edit Load Save Testrun Reset Next Hot Starting - 2-6 - - 2-7 - Setting Controller Environmental Conditions Turning the Servo Power on Manual Guidance of Each Axis -2-11- -2-12- Manual Guidance Operation -2-14- -2-15- Motion Range Limit Setting Joint Limit Values by TeachingFormat Verify Zerop Jlimit Channel Next Next Jlimit Travel Joint Negative PositiveSetting Joint Limit by Numeric Value Entry Channel Next-2-19- Travel Joint Negative Positive Turning OFF Servo Power Turning OFF the PowerTurning OFF the Main Power -2-22- -2-23- Setting Date and Time Setting DateDate Date Time Next Setting Time Date Time NextTime Date Time Next - 3-5 - Changing File Data Edit CONSTRUC.SYS Edit Load Save Testrun Reset Next - 3-8 - - 3-9 - -3-10- -3-11- Setting the System Configuration Outline of Data-3-13- Specify for Gravity Compensation Servo Free Mode File FormatConstruction of MANIPULATER. =0WITHOUT,=1WITH Type of JOINT=0LINEAR.=1ROTATE, 1ST Joint to 5THSpecify for External File Selection Signal Mode of Serial ChannelMode of Channel COM1 Mode of Channel COM2Mode of AIR Driven Axis Specify for USE or not USE -3-17- Details of Data -3-19- -3-20- -3-21- PRT Host=HOST -3-24- -3-25- Setting External Selection Files Signals Used for Selecting FileContents of File -3-28- Batch Processing Batch File-3-30- Automatic Execution File LOADPRO1 LOADPRO2 LOADPRO3 LOADPRO4 Loadpros LOADPRO6Select PRO1 Using Batch Processing EffectivelyLoadconstruc .SYS LOADSYSTEM. PAR LOADUSER. PAR LOAD*. PRO -3-33- Program Execution Environment Program Execution Environment-3-35- Resetting Execution Environment Reset Timing of Program Execution Environment Setting Coordinate System Robot Coordinate Systems-3-39- Teaching Coordinate Data System and the original coordinate system unit deg-3-41- Program Sample Move P1 Move P2 END -3-43- -3-44- -3-45- Selecting Coordinate System in Data Editor Mode -3-47- Righty Z,C,TLefty -3-49- -3-50- -3-51- -3-52- Selecting Coordinate System in Utility Mode Robot Utility Work Tool Where Signal Memory -3-55- Selecting Coordinate System Using Robot Language Timing of Changing Coordinate System