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(2) Supplementary explanation
•
If the triangle [P1']-[P2']-[P3'] won't match its original form (the triangle [P1]-[P2]-[P3]), then the shifted teaching
points are corrected with reference to the shifted reference points in ascending order so that the shapes of those
two triangles match.
(i.e. Using the shifted point [P1'] as the base, correct the point [P2'] and then [P3'] so as to create the same
triangle as the triangle [P1]-[P2]-[P3] on the line determined by [P1'] and [P2'] and the plane determined by [P1'],
[P2'] and [P3'].
•
There is no specific order to assign those three reference points 1, 2 and 3.
•
In case of execution of the command with the repeated operand, the data of the operand will be updated by the
newly executed command.
•
The rotary shift executed by the SNSSFT-ON command ends when the SNSSFT-OFF command is executed.
•
The SNSSFTRST command is a command to clear the rotary shift.
•
If the program is terminated without executing the SNSSFT-OFF or SNSSFTRST command, the rotary shift of the
program will be applied to the next program.
•
The error "E2010 Sensing not possible" occurs if three reference points have not specified correctly when the
TRANSBASE or TRANSBASV command is executed.
•
The rotary shift is applied to the program called by the CALL command during the rotary shift operation.
•
It is possible to apply the shift buffer data to the rotary shift.
•
As commands are ignored in trace operation,
If the operation is switched from auto to trace within the rotary shift section and moved to the out of the rotary shift
section in trace operation and then re-started auto operation, then the robot resumes the rotary shift.
If the robot is moved into the rotary shift section in trace operation and then re-started auto operation within the
rotary shift section, then the rotary shift won't be executed.
•
Those TRANSBASE and TRANSBASV commands can be used together.
18-7
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