IAI TTA Series - Caution Note; Limitation in Coordinate System Constructing Axes

Chapter 7 Appendix7.1 Work and Tool Coordinate System Features for Linear Axis
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7.1.3 Caution Note
[1] Limitation in Coordinate System Constructing Axes
Shown below are the cases when limitation is applied to indication for operation of X, Y and R-axes
in the coordinate system definition unit.
Indicated Axis
Operations Subject for Limitation
X Y Z R
Pressing Movement (PUSH) ∆
*1
∆
*1
○ ∆
*1
Arch motion Z-axis (ACHZ/PCHZ) ∆
*1
∆
*1
○ ×
palletize XY-axis (PASE/PAPS) ○ ○ ○ ×
Circular / Arc Movement
3-Dimensional Circular /
Arc Movement
(CIRS/ARCS)
(CIR/ARC) ○ ○ ○ ×
Circular / Arc Movement 2
Arc Movement with
Center Indication
(CIR2/ARC2)
(ARCC/ARCD)
○ ○ ∆
*2
×
(*1) Permitted only when operated physical axis is one axis to the indicated axis
(*2) Permitted only when operated axes are two axes in total
Example : To indicate X-axis in PUSH Command
1) Work coordinate system R offset is 0 (in such case as Work Coordinate System No. 0)
→ Available to indicate (Only X-axis operates)
2) Work coordinate system R offset is not 0
→ Unavailable to indicate (Operation necessary on X and Y-axes)
Xb
Yb
Xwn
Ywn
Xb
Yb
Xwn
Ywn
○：指定可能 ×：指定不可
○ : Available for Indication ∆ : Available for Indication with Conditions × : Unavailable for Indication
○ : Available for Indication
× : Unavailable for Indication