Mitsubishi Electric 3F-14C-WINE - Page 359

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Table 15-11 About Posture Elements of Re-teaching Position Data
Condition
Merit
Note
When using posture elements of position
data
Precision of generated
revision parameter
improves if the tip position
(X, Y, Z) and tip posture
elements are re-taught
correctly.
During re-teaching, posture must
be taught correctly. If posture
data is incorrect, precision of
revision parameter actually
decreases.
When not using posture elements of
position data
During re-teaching,
revision parameters can be
generated simply by
correctly teaching position
(X, Y, Z).
(Posture elements need
not be accurate.)
In vertical 6-axis robots:
* Posture elements (A, B, C) of
tool revision parameters cannot
be obtained.
* The J6 axis of origin revision
parameters cannot be
obtained if both X and Y
components of the tool
parameter are 0.0.
In vertical 5-axis robots:
* The J6 axis of origin revision
parameters cannot be
obtained.
In horizontal 4-axis robots :
* Posture elements (C) of tool
revision parameters cannot be
obtained.
* The J4 axis of origin revision
parameters cannot be
obtained if both X and Y
components of the tool
parameter are 0.0.