Table of contents
Preface .........................................................................................................................................................3
1
1.1
1.2
1.3
1.4
Industrial security ...................................................................................................................13
1.5
2
Introduction.................................................................................................................................................17
2.1
Programming 6-axis robots ....................................................................................................17
2.2
3
Coordinate systems....................................................................................................................................19
3.1
Overview ................................................................................................................................19
3.2
Basic coordinate system ........................................................................................................21
3.3
Flange coordinate system ......................................................................................................23
3.3.1
Flange coordinate system ......................................................................................................23
3.3.2
3.3.2.1
3.3.2.2
3.3.3
3.3.3.1
3.3.3.2
4
Programming ..............................................................................................................................................31
4.1
Axial programming .................................................................................................................32
4.2
4.3
Orientation programming .......................................................................................................34
4.3.1
Overview ................................................................................................................................34
4.3.2
ORIMKS/ORIWKS .................................................................................................................34
4.3.3
ORIVIRT1...............................................................................................................................34
4.4
Cartesian PTP travel ..............................................................................................................38
4.4.1
Function .................................................................................................................................38
4.4.2
Activation................................................................................................................................38
4.5
4.6
5
Measuring cycles........................................................................................................................................45
5.1
SINUMERIK Run MyRobot /Direct Control
Programming Manual, 12/2018, A5E45237742B AB
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