n
NOTE
Separate the teach points from each
other as much as possible.
n
NOTE
Standard coordinates are calculated
based on the teach points and input
point data, so perform teaching and
point data input as accurately as
possible.
11.9.2
Setting the standard coordinate by 3-point teaching
Fig. 4-11-106
P[1]
Precondition: All 3 points P[1], P[2] and P[3] must be on a straight line, with P[2] set at
the midpoint between P[1] and P[3].
[Procedure]
1) In "MANUAL>COORDI" mode, press the
mode for setting standard coordinates with 3-point teaching.
Fig. 4-11-107
MANUAL>COORDI>3POINTS
————————————x———————y———————z———————r———
Move arm to P[1] and press ENTER key
P[1]=
P[2]=
P[3]=
[POS]
2) Use the Jog keys to move the robot arm tip to teach point P[1] and press the
key.
Fig. 4-11-108
MANUAL>COORDI>3POINTS
————————————x———————y———————z———————r———
Move arm to P[2] and press ENTER key
P[1]= -43202
P[2]=
P[3]=
[POS]
-43202
11. "MANUAL" mode
L
L
P[2]
(3POINTS) key to enter the
F 2
50% [MG][
0
0
0
VEL+
50% [MG][
47158
47158
0
VEL+
P[3]
J]
0
VEL-
J]
0
VEL-
141
4-
4