Part 4 Commands
(1) Setting the load coordinate system
Set the offsets with respect to the base coordinate system.
• Setting example of load coordinate system
When defining load coordinate system Nos. 1 and 2 as shown below:
The offsets of load coordinate system No. 1 are set as Xofw1 = 150, Yofw1 = 200, Zofw1 = 0 and
Rofw1 = 30.
The offsets of load coordinate system No. 2 are set as Xofw2 = -400, Yofw2 = 100, Zofw2 = 25 and
Rofw2 = -20.
The figure below shows the edit screen for load coordinate system definition data on the PC
software for horizontal articulated robot, where load coordinate system Nos. 1 and 2 are set:
* Use a DFWK command to set load coordinate system offsets in a SEL program.
coordinate system
No. 1
coordinate
system No. 2
30°
–20°
Commentaires sur ces manuels