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2. Basic operation
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2 - 1
Chapter 2. Basic operation
Contents
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2.1 Basic operation ............................................ 2 - 2
2.1.1 Controller's power/motor ON/OFF ........................... 2 - 2
2.1.1.1 Power ON/Motor ON ........................................ 2 - 2
2.1.1.2 Power OFF/Motor OFF ....................................... 2 - 2
2.1.2 How to initiate the system ................................ 2 - 3
2.1.3 Teaching .................................................. 2 - 3
2.1.4 Step and function ......................................... 2 - 4
2.2
Basic things for step ...................................... 2 - 5
2.2.1 The parameter of STEP command line ........................ 2 - 5
2.2.1.1 Interpolation-locus from between step and step ............ 2 - 6
2.2.1.2 Pose ...................................................... 2 - 7
2.2.1.3 Speed ..................................................... 2 - 8
2.2.1.4 Accuracy .................................................. 2 - 8
2.2.1.5 Tool number ............................................... 2 - 8
2.2.1.6 Output option ............................................. 2 - 8
2.2.1.7 Stop condition ............................................. 2 - 9
2.2.1.8 Stop state variable ....................................... 2 - 9
2.2.2 Step position validation/modification method .............. 2 - 10
2.2.2.1 Encoder coordinate system ................................ 2 - 10
2.2.2.2 Base/Robot coordinate system ............................ 2 - 11
2.1.4 Coordinate system ......................................... 2 - 13
2.3.1 JOG operation key ........................................ 2 - 13
2.3.2 Axis coordinate .......................................... 2 - 14
2.3.3 Robot coordinate ......................................... 2 - 15
2.3.4 User coordinate .......................................... 2 - 17
2.3.5 Tool coordinate .......................................... 2 - 18
2.4 Auto tool setting ......................................... 2 - 19