Enter the following values directly: the value (x, y, z) which specifies the origin of the user frame and is the coordinate values of the world frame and the rotating angle (w, p, r) around the x-,y-,and z-axis of the world frame.
World coordinate system Xw, Yw, Zw
Xu, Yu, Zu User coordinate system
Zw,Zu
Fig. 3.9.2 (d) Meaning of (w,p,r) used in direct list method
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Procedure 3-18 Setting Up User Frame Using Three Point Method
Step
1 Press the MENU key. The screen menu is displayed.
2 Select “6 SETUP”.
3 Press the F1, [TYPE]. The screen change menu is displayed.
4 Select Frames.
5 Press F3, [OTHER] and then select User Frame. The user frame list screen is displayed.
User frame list screen SETUP Frames
User Frame / Direct Entry 1/9 X Y Z Comment 1 0.0 0.0 0.0 [ ] 2 0.0 0.0 0.0 [ ] 3 0.0 0.0 0.0 [ ] 4 0.0 0.0 0.0 [ ] 5 0.0 0.0 0.0 [ ] 6 0.0 0.0 0.0 [ ] 7 0.0 0.0 0.0 [ ] 8 0.0 0.0 0.0 [ ] 9 0.0 0.0 0.0 [ ] Active TOOL $MNUTOOLNUM[G:1] = 1
[ TYPE ] DETAIL [ OTHER ] CLEAR SETIND
6 Move the cursor to the line of the user frame number you want to set.
7 Press F2, DETAIL. The user frame setup screen of the selected frame number is displayed.
8 Press F2, METHOD and then select Three Point.
User frame setup screen (Three Point Method) SETUP Frames
User Frame Three Point 1/4 Frame Number: 1
X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: *******************
Orient Origin Point: UNINIT X Direction Point: UNINIT Y Direction Point: UNINIT
Active UFRAME $MNUFRAMENUM[G:1] = 0 [ TYPE ] [METHOD] FRAME
9 To add a comment:
a Move the cursor to the comment line and press the ENTER key.
b Select the method of naming the comment.
c Press the appropriate function keys to add the comment.
d When you are finished, press ENTER key.
10 Record each approach point:
a Move the cursor to each Approach point.
b Jog the robot to the position you want to record.
c Press and hold the SHIFT key and press F5, RECORD to record the current position as the approach point. As for the taught reference point, RECORDED is displayed.
SETUP Frames
User Frame Three Point 3/4 Frame Number: 1
X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment:REFERENCE FRAME
Orient Origin Point: RECORDED X Direction Point: RECORDED Y Direction Point: UNINIT
Active UFRAME $MNUFRAMENUM[G:1] = 0 [ TYPE ] [METHOD] FRAME MOVE_TO RECORD
d When all the reference points are taught, USED is displayed. The user frame has been set.
SETUP Frames
User Frame Three Point 4/4 Frame Number: 1
X: 143.6 Y: 0.0 Z: 10.0 W: 0.123 P: 2.34 R: 3.2 Comment: REFERENCE FRAME Orient Origin Point: USED X Direction Point: USED Y Direction Point: USED
Active UFRAME $MNUFRAMENUM[G:1] = 0 [ TYPE ] [METHOD] FRAME MOVE_TO RECORD
11 To move to a recorded position, press and hold the SHIFT key and press F4, MOVE_TO.
12 To see each recorded position data, move the cursor to each reference position item and press the ENTER key. The position detail screen of each position data is displayed. To return to the previous screen, press the PREV key.
13 To display the user frame list screen, press the PREV key. You can see the settings for all user frames.
SETUP Frames
User Frame / Three Point 1/9 X Y Z Comment 1 143.6 0.0 10.0 [REFERENCE FR>]
2 0.0 0.0 0.0 [ ] 3 0.0 0.0 0.0 [ ] 4 0.0 0.0 0.0 [ ] 5 0.0 0.0 0.0 [ ] 6 0.0 0.0 0.0 [ ] 7 0.0 0.0 0.0 [ ] 8 0.0 0.0 0.0 [ ] 9 0.0 0.0 0.0 [ ] Active TOOL $MNUFRAMNUM[G:1] = 0
[ TYPE ] DETAIL [ OTHER ] CLEAR SETIND
14 To make the set user frame effective, press F5, SETIND, then enter the frame number.
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CAUTION1 If you do not press F5, SETIND, the user frame will not be effective.
2 After all coordinate systems are set, the setting information should be saved in external storage in case the information needs to be re-loaded. Otherwise, the current setting information would be lost when it is changed.
NOTE
To select the number of a coordinate system to be used, the jog menu can also be used. See Subsection 5.2.3 ”Moving the Robot Jog Feed”.
15 To delete the data of the set frame, move the cursor to the desired frame and press F4, CLEAR.
Procedure 3-19 Setting User Frame Using Four Point Method
Step
1 Display the user frame list screen (Refer to the three point method).
SETUP Frames
User Frame / Direct Entry 2/9 X Y Z Comment 1 143.6 0.0 10.0 [REFERENCE FR> ]
2 0.0 0.0 0.0 [ ]
3 0.0 0.0 0.0 [ ]
4 0.0 0.0 0.0 [ ]
5 0.0 0.0 0.0 [ ]
6 0.0 0.0 0.0 [ ]
7 0.0 0.0 0.0 [ ]
8 0.0 0.0 0.0 [ ]
9 0.0 0.0 0.0 [ ]
Active UFRAME $MNUFRAMENUM[1] = 0
[ TYPE ] DETAIL [OTHER ] CLEAR SETIND >
2 Move the cursor to the user frame number line you want to set.
3 Press F2, DETAIL. The user frame setup screen of the selected frame number is displayed.
4 Press F2, METHOD
5 Select Four Point. The user frame setup / four point screen is displayed.
User frame setup screen (Four Point Method) SETUP Frames
User Frame Four Point 1/5 Frame Number: 2
X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment: *******************
Orient Origin Point: UNINIT X Direction Point: UNINIT Y Direction Point: UNINIT System Origin: UNINIT Active UFRAME $MNUFRAMENUM[1] = 1
[ TYPE ] [ METHOD ] FRAME
6 Add a comment and teach the reference point. For details, refer to TCP auto set ( Three Point Method ).
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SETUP Frames
User Frame Four Point 5/5 Frame Number: 2
X: 143.6 Y: 525.2 Z: 43.9 W: 0.123 P: 2.34 R: 3.2 COMMENT: RIGHT FRME Orient Origin Point: USED X Direction Point: USED Y Direction Point: USED System Origin: USED Active FRAME $MNUFRAMENUM[1] = 1
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
7 Press the PREV key. The user frame list screen is displayed. You can see all the user frame settings.
SETUP Frames
User Frame / Four Point 2/9 X Y Z Comment 1 143.6 0.0 10.0 [REFERENCE FR> ] 2 143.6 525.5 43.9 [RIGHT FRME ]
3 0.0 0.0 0.0 [ ]
4 0.0 0.0 0.0 [ ]
5 0.0 0.0 0.0 [ ]
6 0.0 0.0 0.0 [ ]
7 0.0 0.0 0.0 [ ]
8 0.0 0.0 0.0 [ ]
9 0.0 0.0 0.0 [ ]
Active UFRAME $MNUFRAMENUM[1] = 1
[ TYPE ] DETAIL [OTHER ] CLEAR SETIND >
8 To make the set user frame effective, press F5, SETIND, then enter the frame number.
CAUTION
1 If you do not press F5, SETIND, the user frame will not be effective.
2 After all coordinate systems are set, the setting information should be saved in external storage in case the information needs to be re-loaded. Otherwise, the current setting information would be lost when it is changed.
NOTE
To select the number of a coordinate system to be used, the jog menu can also be used. See Subsection 5.2.3 ”Moving the Robot Jog Feed”.
9 To delete the data of the set frame, move the cursor to the desired frame and press F4, CLEAR.
Procedure 3-20 Setting User Frame Using Direct List Method
Step
1 Display the user frame list screen (Refer to the three point method).
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3. SETTING UP THE ROBOT SYSTEM
2 Move the cursor to the user frame number line you want to set.
3 Press F2, DETAIL or press the ENTER key. The user frame setup screen of the selected frame number is displayed.
4 Press F2, METHOD.
5 Select Direct List. The user frame setup / direct list is displayed.
User frame setup screen (Direct List Method) SETUP Frames
6 Add a comment and enter the coordinate values. For details, refer to tool frame (Direct List Method).
SETUP Frames
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
7 To display the user frame list screen, press the PREV key. You can see the settings of all the user frame.
SETUP Frames
User Frame / Direct Entry 3/9 X Y Z Comment 1 143.6 0.0 10.0 [REFERENCE FR> ] 2 143.6 525.5 43.9 [RIGHT FRAME ] 3 143.6 -525.5 43.9 [LEFT FRAME ]
4 0.0 0.0 0.0 [ ]
5 0.0 0.0 0.0 [ ]
6 0.0 0.0 0.0 [ ]
7 0.0 0.0 0.0 [ ]
8 0.0 0.0 0.0 [ ]
9 0.0 0.0 0.0 [ ]
Active UFRAME $MNUFRAMENUM[1] = 1
[ TYPE ] DETAIL [OTHER ] CLEAR SETIND >
8 To get the set user frame as effective, press F5, SETIND.
CAUTION
1 If you do not press F5, SETIND, the user frame will not be effective.
2 After all coordinate systems are set, the setting information should be saved in external storage in case the information needs to be re-loaded. Otherwise, the current setting information would be lost when it is changed.
NOTE
To select the number of a coordinate system to be used, the jog menu can also be used. See Subsection 5.2.3 ”Moving the Robot Jog Feed”.
9 To delete the data of the set frame, move the cursor to the desired frame and press F4, CLEAR.
Procedure 3-21 Method to change User Frame Number into “0”(World Frame)
Step
1 Display the user frame list screen.
SETUP Frames
User Frame / Direct Entry 3/9 X Y Z Comment 1 143.6 0.0 10.0 [REFERENCE FR> ] 2 143.6 525.5 43.9 [RIGHT FRAME ]
3 0.0 0.0 0.0 [ ]
4 0.0 0.0 0.0 [ ]
5 0.0 0.0 0.0 [ ]
6 0.0 0.0 0.0 [ ]
7 0.0 0.0 0.0 [ ]
8 0.0 0.0 0.0 [ ]
9 0.0 0.0 0.0 [ ]
Active UFRAME $MNUFRAMENUM[1] = 1
[ TYPE ] DETAIL [OTHER ] CLEAR SETIND >
2 Press F→.
3 Press F2, CLRIND. Then, $MNUFRAMENUM[x] will be changed into 0.
Active UFRAME $MNUFRAMENUM[1] = 0 [ TYPE ] CLRIND
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3. SETTING UP THE ROBOT SYSTEM
3.9.3 Setting a Jog Coordinate System
A jog coordinate system is a Cartesian coordinate system defined in a work space by the user. It is used to efficiently move the robot by Cartesian jog in the work space. (See Subsection 5.2.3.)
The jog coordinate system is defined by (x, y, z) indicating the position of the zero point, and (w, p, r) indicating the angular displacement around the X-, Y-, and Z-axes on the world coordinate system.
NOTE
You need not take care of the jog frame origin, since it is used only when the jog frame is selected as the manual-feed coordinate system. The zero point of the jog coordinate system has no special meaning. Select any convenient position for defining the jog coordinate system.
Y X
Z
Fig. 3.9.3 Jog coordinate system
The following system variables are changed by setting the jog frame with the frame setup screen.
● $JOG_GROUP [ group ] . $JOGFRAME is set the jog frame you want to use.
Five jog frames can be set and they can be switched according to the situation. It is substituted by the world frame when undefined.
Jog frame can be set by two methods.
Three Point Method
Three reference points need be taught. They are the start point of the x-axis, the positive direction of the x-axis, and one point on the x-y plane. The start point of the x-axis is used as the origin of the frame. Refer to Fig. 3.9.2 (b).
Direct List Method
The origin position x, y and z of the jog frame in the world frame and the rotating angle w, p, and r around the x-,y-,and z-axis of the world frame can be input directly. Refer to Fig. 3.9.2 (d).
Procedure 3-22 Setting Up Jog Frame Using Three Point Method
Step
1 Press the MENU key. The screen menu is displayed.
2 Select “6 SETUP”.
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3 Press the F1, [TYPE]. The screen change menu is displayed.
4 Select Frames.
5 Press F3, [OTHER].
6 Select Jog Frame. Jog frame entry screen is displayed.
Jog frame list screen SETUP Frames
Jog Frame / Direct Entry 1/5 X Y Z Comment 1 0.0 0.0 0.0 [ ] 2 0.0 0.0 0.0 [ ] 3 0.0 0.0 0.0 [ ] 4 0.0 0.0 0.0 [ ] 5 0.0 0.0 0.0 [ ]
Active JOG FRAME[G:1] = 1
[ TYPE ] DETAIL [OTHER] CLEAR SETIND >
7 Move the cursor to the line of the jog frame number you want to set.
8 Press F2, DETAIL. The jog frame setup screen of the selected frame number is displayed.
9 Press F2, METHOD.
10 Select Three Point.
Jog frame setup screen (three point method) SETUP Frames
Jog Frame Three Point 1/4 Frame Number: 1
X: 0.0 Y: 0.0 Z: 0.0 W: 0.0 P: 0.0 R: 0.0 Comment:*******************
Orient Origin Point: UNINIT X Direction Point: UNINIT Y Direction Point: UNINIT
Active JOG FRAME[1] = 1 [ TYPE ] [METHOD] FRAME
11 Add a comment and teach the reference point. For details, refer to TCP auto set (Three Point Method).
SETUP Frames
Jog Frame Three Point 4/4 Frame Number: 1
X: 143.6 Y: 525.5 Z: 60.0 W: 0.123 P: 2.34 R: 3.2 Comment:WORK AREA 1
Orient Origin Point: USED X Direction Point: USED Y Direction Point: USED
Active JOG FRAME[1] = 1
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
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12 Press the PREV key. The jog frame list screen is displayed. You can see all the jog frame settings.SETUP Frames
Jog Frame / Three Point 1/5 X Y Z Comment 1 143.6 525.5 60.0 [Work Area 1 ] 2 0.0 0.0 0.0 [ ] 3 0.0 0.0 0.0 [ ] 4 0.0 0.0 0.0 [ ] 5 0.0 0.0 0.0 [ ]
Active JOG FRAME[G:1] = 1
[ TYPE ] DETAIL [OTHER] CLEAR SETIND >
13 To make the set jog frame effective, press F5, SETIND, then enter the frame number.
CAUTION
1 If you do not press F5, SETIND, the jog frame will not be effective.
2 After all coordinate systems are set, the setting information should be saved in external storage in case the information needs to be re-loaded. Otherwise, the current setting information would be lost when it is changed.
NOTE
To select the number of a coordinate system to be used, the jog menu can also be used. See Subsection 5.2.3 ”Moving the Robot Jog Feed”.
14 To delete the data of the set frame, move the cursor to the desired frame and press F4, CLEAR.
Procedure 3-23 Setting Up Jog Frame Using the Direct List Method
Step
1 Display the jog frame list screen (Refer to the three point method).
SETUP Frames
Jog Frame / Direct Entry 2/5 X Y Z Comment 1 143.6 525.5 60.0 [Work Area 1 ] 2 0.0 0.0 0.0 [ ] 3 0.0 0.0 0.0 [ ] 4 0.0 0.0 0.0 [ ] 5 0.0 0.0 0.0 [ ]
Active JOG FRAME[G:1] = 1
[ TYPE ] DETAIL [OTHER] CLEAR SETIND >
2 Move the cursor to the jog frame number line you want to set.
3 Press F2, DETAIL or press the ENTER key. The jog frame setup screen of the selected frame number is displayed.
4 Press F2, METHOD.
5 Select Direct Entry.
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Jog frame setup screen (direct entry method) SETUP Frames
Jog Frame Direct Entry 1/7 Frame Number: 2
1 Comment: ********************
2 X: 0.000
3 Y: 0.000
4 Z: 0.000
5 W: 0.000
6 P: 0.000
7 R: 0.000
Configuration: N D B, 0, 0, 0 Active JOG FRAME[G:1] = 1
[ TYPE ] [METHOD] FRAME MOVE TO RECORD
6 Add a comment and teach the reference point. For details, refer to TCP auto set (Three Point Method).
SETUP Frames
Jog Frame Direct Entry 4/7 Frame Number: 3
1 Comment: WORK AREA 2
2 X: 103.600
3 Y: -236.000
4 Z: 90.000
5 W: 0.000
6 P: 0.000
7 R: 0.000
Configuration: N D B, 0, 0, 0 Active JOG FRAME[G:1] = 1
[ TYPE ] [METHOD] FRAME MOVE_TO RECORD
7 Press the PREV key. The jog frame list screen is displayed. You can see all the jog frame settings.
SETUP Frames
Jog Frame / Direct Entry 2/5 X Y Z Comment 1 143.6 525.5 60.0 [Work Area 1 ] 2 1003.0 -236.0 90.0 [Work Area 2 ] 3 0.0 0.0 0.0 [ ] 4 0.0 0.0 0.0 [ ] 5 0.0 0.0 0.0 [ ]
Active JOG FRAME[G:1] = 1
[ TYPE ] DETAIL [OTHER] CLEAR SETIND >
8 To make the set jog frame effective, press F5, SETIND, then enter the frame number.
CAUTION
1 If you do not press F5, SETIND, the jog frame will not be effective.
2 After all coordinate systems are set, the setting information should be saved in
external storage in case the information needs to be re-loaded. Otherwise, the
current setting information would be lost when it is changed.
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NOTETo select the number of a coordinate system to be used, the jog menu can also be used. See Subsection 5.2.3 ”Moving the Robot Jog Feed”.
9 To delete the data of the set frame, move the cursor to the desired frame and press F4, CLEAR.
3.9.4 Setting a Cell Coordinate System
In 4D graphic function, the cell coordinate system is used to describe the robot position in the work cell. By setting the cell coordinate system, the relation of the position between the robots can be described.
The cell coordinate system can be set by the following two methods.
Direct List Method
The origin position x, y and z of the world frame in the cell frame and the rotating angle w, p, and r around the x-,y-,and z-axis of the cell frame can be input directly.
Cell coordinate system
Fig. 3.9.4 Meaning of (w, p, r) used in direct list method