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9.4. Switching Base Coordinates
The base coordinates are switched. The base coordinates used from the combo box in the upper-right corner of
the screen <a> this time are selected. This function is available with Ver.2.4 or later of this software. Moreover, the
software version of the controller which can use this function is as follows.
S/W Ver. of the controller
Can be used with all versions
The content of the display is as follows.
＊
The state where base conversion data is directly specified by the program
The state of a system initial value(P_NBase)
～
The state where the base coordinates number is specified
If controller's version is older than the above-mentioned version, the switch combo box of the base coordinates is
not displayed.
In case that controller's version is newer than the above-mentioned version
In case that controller's version is older than the above-mentioned version
When the robot moves with changing tool data, the tool data needs to be changed by setting tool number
into the M_TOOL. To move the robot to the position where teaching was performed while switching tool
data (MEXTL* parameters) during the automatic operation of the program, substitute the M_TOOL
variable by a tool number when needed, and operate the robot by switching tool data. Exercise caution
as the robot moves to an unexpected direction if the tool data during teaching does not match the tool
number during operation.
To move the robot while switching tool data during the step operation of the program, exercise caution as
the robot moves to an unexpected direction if the tool data at the time of teaching does not match the tool
number during step operation.
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