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9.8.2 User Coordinates
The user coordinate settings allow easy teaching and programming in various situations.
When multiple positioners are used, manual operation can be simplified by setting the user
coordinates for each fixture, as shown in the following figure.
User coordinates are defined by three points that have been taught to the manipulator through
axis operations. These three defining points are RORG, RXX, and RXY, as shown in the diagram
below. These three points of positional data are registered in a user coordinate file.
User coordinate definition: RORG is the home position, and RXX is a point on the X-axis.
RXY is a point on the Y-axis side of the user coordinates that has been taught, and the directions
of Y- and Z-axes are determined by point RXY. Note that it is important that the two points
RORG and RXX be taught accurately.
Go to "Readiness for Operation - User coordinates" to open the user coordinate setting page.
First select the user coordinate number to be set. Then select one of the three defining points and
press [RECORD] button in the submenu area after moving the manipulator to the desired position.
Doc No.：T202001005
Page 104 of 130
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