Toshiba TS3000 Series Instruction Manual page 48

series Robot Controller
3.2 Guidance Coordinates
(1) Function
Selects a coordinate system in which the robot is guided, from among the joint,
tool, work and world coordinate systems.
(2) Procedures
(a) Step 1:
Select the work or tool coordinate system used for [TRANS] of the utility
function. For details, see Section 12.
When using the joint or world coordinate system this operation is
unnecessary.
(b) Step 2:
Press the JOG key on the teach pendant. The following display appears.
J O G S E T T I N G
J O I N T
T O O L M E D I U M
W O R K
W O R L D
C O O R D
(c) Step 3:
Press the F1 (COORD) key to select any coordinate system shown below.
Each time the F1 key on the teach pendant is pressed, JOINT, TOOL, WORK,
and WORLD are selected in turn with the appropriate LED illuminated. The
initial setting is JOINT.
(3) Cautions
• For each coordinate system of the robot, see the Introductory Manual.
• Unless a tool, base or work coordinate has been taught to the robot, the tool
coordinate system matches the flange face, and the work and world
coordinate systems coincide with the base coordinate system.
• When using the tool or work coordinate system, make sure what tool and
work have been selected.
Selection of tool or work coordinate system.
Selection screen display.
L O W J O G
I N C H I N G
H I G H
S P E E D R E M O T
Coordinate selection.
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