Features II JS/JSR4400N SCARA Robot
JSG GANTRY Robot
JR2000N Desktop Robot
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Depending on the position data settings, the next point coordinates vary even if the position data
values are the same. (See below)
Position Data Value (0,0) (15,20) (10,20) (5,10)
P1 P2 P3 P4 P5
Absolute
(10,10) (0,0) (15,20) (10,20) (5,10)
Fixed robot coordinates
Relative
(10,10) (10,10) (25,30) (20,30) (15,20)
Fixed robot coordinates
Moving Amount
(10,10) (10,10) (25,30) (35,50) (40,60)
Fixed robot coordinates
Ç Program Start Position Coordinates
z If you run a program as a subprogram, the robot Axis or Arm will not return to the work home. If
[Relative] or [Moving Amount] is set in a program, the robot Axis or Arm will also not return to the
work home.
The robot Axis or Arm returns to the work home only when [Absolute] is set in the program and is
performed independently, not by a CallProgram command.
■ How to Register a [Relative] Program
When registering any point in the JOG mode, the position data setting must be set to [Absolute].
When creating a program which is set to [Relative], shift (offset) all the points so as to match the
coordinates of the first point to the position (0,0,0) after registering the desired point.
■ How to Register a [Moving Amount] Program
You cannot convert the registered coordinates into [Moving Amount]. Register any points under the
[Moving Amount] setting in the MDI mode.
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