Contents
viii
Page
7.3.9 Adjustment work ................................................................................................ Appendix-671
(1) Position adjustment function ........................................................................... Appendix-671
(2) Frame transformation function ........................................................................ Appendix-673
(3) Position jump ................................................................................................... Appendix-675
(4) Parameter SPLOPTGC ................................................................................... Appendix-676
7.4 Ex-T control .............................................................................................................. Appendix-677
7.4.1 Outline ............................................................................................................... Appendix-677
(1) Features .......................................................................................................... Appendix-677
(2) Specifications .................................................................................................. Appendix-678
(3) Equipment and software version requirements ............................................... Appendix-678
7.4.2 Ex-T coordinates setting .................................................................................... Appendix-678
(1) Setting ............................................................................................................. Appendix-678
7.4.3 Ex-T jog ............................................................................................................. Appendix-680
(1) Movement of the posture element in the WORK jog ....................................... Appendix-681
(2) Movement of the posture element in the Ex-T jog ........................................... Appendix-681
(3) Ex-T jog operation ........................................................................................... Appendix-682
(4) WORK jog operation of the RV 6-axis type ..................................................... Appendix-683
(5) WORK jog operation of the RH 4-axis type ..................................................... Appendix-686
(6) WORK jog operation of the RH 4-axis hanging type ....................................... Appendix-688
7.4.4 Creation of robot program .................................................................................. Appendix-690
(1) List of commands/variables related to the Ex-T control .................................. Appendix-690
(2) Programming example .................................................................................... Appendix-690
7.5 Cooperative operation function ................................................................................ Appendix-692
7.5.1 Outline ............................................................................................................... Appendix-692
7.5.2 System configuration ......................................................................................... Appendix-693
7.5.3 Sample program ................................................................................................ Appendix-693
(1) Automatic operation program (1.prg) .............................................................. Appendix-694
(2) Robot adjustment program (BFRM.prg) .......................................................... Appendix-695
7.5.4 Sequence program ............................................................................................ Appendix-696
7.5.5 Adjustment ......................................................................................................... Appendix-697
(1) Adjustment 1: Adjustment of the common base coordinates .......................... Appendix-697
(2) Adjustment 2: Setting of the common tool ....................................................... Appendix-698
(3) Adjustment 3: Teaching and parameter setting of the workpiece transport destination ... Ap-
pendix-699
7.5.6 Cooperated operation by robots ........................................................................ Appendix-700
(1) Parallel straight motion by robot No.1 ............................................................. Appendix-700
(2) Rotating motion by robot No.1 ......................................................................... Appendix-700
7.6 Get-position-quick function ...................................................................................... Appendix-701
7.6.1 Outline ............................................................................................................... Appendix-701
7.6.2 Specifications of the GPS Function ................................................................... Appendix-701
7.6.3 Specifications of Digital Input Signal .................................................................. Appendix-702
7.6.4 Electric Specification of Digital Input .................................................................. Appendix-704
7.6.5 How to use the GPS function ............................................................................. Appendix-705
(1) Position data acquisition at the sensor input timing ........................................ Appendix-705
(2) Workpiece presence recognition in a cassette ................................................ Appendix-706
7.7 Upgrade of the servo software ................................................................................. Appendix-708
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