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10. Robot settings
10-1. User coordinate system settings
10-1-1.
What is a User coordinate system
It is a coordinate system that can be defined by the
user.
For example, if you are using a tilted table, you can define a
coordinate system based on the table surface and operate
the robot in the defined coordinate system.
10-1-2. Setting procedure
Click
>>
>>
Set
1
2
1
2
3
>>
User
Robot
coordinate
Z
3
3
1
2
X
1
Y
2
3
Z
A user coordinate system is defined by three points,
P
, P
and P
.
1
2
3
Where,
P
:
Origin of the user coordinate system
1
P
P
:
Direction of X-axis (X
1
2
P
P
P
: X-Y plane of the user coordinate system
1
2
3
Axis perpendicular to the plane X
Z-axis of the user coordinate system (Z
[Valid/Invalid] Specifies the validity of the function.
[P1] Specifies the origin of the user coordinate system
[P2] Specifies a point to define the direction of X-axis
from the origin (P1)
[P3] Together with the P2, specifies the X-Y plane.
[Browse] Click the check box of P1, P2 or P3, and then
click this button to select a set of X, Y and Z values from
the global teach point list.
[Clear] Click to cancel the user coordinate system
settings you have made.
[OK] Click to save the user coordinate system settings
you have made.
To ensure an accurate system definition, be
Y
sure to teach points that are as far apart as possible.
The positions P1-P2-P3 determine the Y-axis
and Z-axis direction.
correct to ensure the desired results.
X
10-1
Z
u
P
Y
3
u
P
1
P
2
X
u
-axis)
u
-Y
(right-handed):
u
u
-axis)
u
Be sure that your points are
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