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4. Condition setting
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4
- 6
4.7 Interpolation base
Outline
Recording step, Interpolation reference change Interpolation selected automatically. General
interpolation method is robot base interpolation so that default value of controller is
calculated with respect to robot base.
In order to record interpolation step of fixture, fixture is set as interpolation reference
Reference
In order to record step with fixture interpolation reference, Coordinate system of fixture
is set. Refer to “ System” [PF2] → 2. Controller parameter → 12. Coordinate setting → 2:
Stationary tool coordinate.
4.8 User Coordinate
Outline
In manual operation, select coordinate system in order to activate linear coordinate
system. In Manual mode, with jog operation of robot, it is utilized to operate linear
coordinate with respect to User coordinate system
The robot executes to act the interpolation coordination system in direction of X,Y,
and Z axis of the set coordinate system. When you use the monitoring function in the
service of Manual or playback mode, X,Y and Z coordinate system of the front head of
the tool being output on the screen
Reference
In Manual mode, when Number of User coordinate is selected, the following is
displayed.
14:39:38 *** M A N U A L *** A:0 S:4
T0 Crd:01
PN:100[*]__ S/F:4/0 Sp:100.00
Robot:H120, 6축, 10 steps
S1 MOVE P,S=100%,A=0,T=1
S2 MOVE P,S=100%,A=0,T=1
S3 MOVE P,S=100%,A=0,T=1
S4 MOVE P,S=100%,A=0,T=1
END
>
Service S
y
stem Rel.WAIT Cond Set
Displaying selected Use
r
coordinate number