IAI America IA-101-X-USBMW User Manual
Page 150
10. Coordinate System Definition Data Edit W
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(2) Positioning in a work coordinate system
Perform positioning after selecting a desired work coordinate system.
Use the SLWK instruction to select a desired work coordinate system No. in the SEL program.
Once set, the work coordinate system selection No. will remain effective after the program ends, and even
after the power is reconnected if the system memory backup battery is installed.
[1] When performing PTP positioning to position No. 5 and No. 6 in work coordinate system No. 1:
Fig. 10.5 Position Data Screen: Work Coordinate System No. 1 Setting
Sample program
:
:
:
SLWK 1 Select work coordinate system No. 1.
SLTL 0 Select tool coordinate system No. 0.
PTPR
Specify right arm as the PTP target arm.
MOVP 5 Move to position No. 5.
MOVP 6 Move to position No. 6.
:
:
:
The R-axis position is shown at left (top view).
The Z-axis position is as follows:
Position No. 5 Zb = 0
Position No. 6 Zb = 20
In the case of
X-SEL-PX/QX,
RX/SX, RXD/SXD,
"SCARA work coord
sys slct No" and
"SCARA tool coord
sys slct No." will be
displayed.