Chapter 7 Appendix 7.1 Work and Tool Coordinate System Features for Linear Axis
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[2] Note for Other Caution
While in operation of either X-axis or Y-axis (or R-axis) in a SEL program, or with operation of PC
software or TP, X-axis and Y-axis (and R-axis) cannot be operated in another SEL program.
When operating either X-axis or Y-axis (or R-axis), it is basically necessary that servo is turned on
and home return operation is completed on all of X-axis and Y-axis (and R-axis). It could cause
an error if operation is attempted with those conditions above unsatisfied.
In the position edit window for the PC software and teaching tools applicable for the feature, when
operation is made to turn on/off the servo to the coordinate system definition unit axes, servo
turns on/off on all the axes in the applicable units.
When performing CP operation on the R-axis by setting the tool coordinate system offset, the
operation speed and acceleration / deceleration on the X-axis and Y-axis will be limited so they
do not exceed the indicated velocity and acceleration / deceleration. Therefore, even if the
indicated velocity and acceleration / deceleration are the same, the actual operation speed may
tend to be slower as the tool length (distance from the tool attachment datum point to the tool tip)
gets longer.
When attempted to perform CP operation or JOG operation on the work coordinate system or tool
coordinate system while the coordinate system definition unit axis is out of the soft limit, “Error
No. C73 Target Track Soft Limit Exceeding Error” could occur. In such a case, use the PC
software or a teaching pendant and have JOG operation on each axis system to have the axis
moved inside the soft limit from outside.
When a velocity change command is issued to CP operation including the R-axis, the
specification could be limited depending on the condition. Refer in the section for CHVL
Command for details. [Refer to the separate SEL Language Programming Manual.]
When a synchronized master axis is indicated as the coordinate system definition unit axis, the
applicable synchronized slave axes are to be treated as the axes outside the unit (* Operation will
be synchronized to the synchronized master axis as it does in ordinary use). Therefore, the work
coordinate system and the tool coordinate system are not considered in the current position
display of the slave axes, and will be in the each axis system value.
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