6 Coordinated control for additional axes
6-118 Additional axis tracking
Perform step operation until “End”.
* The origin position of the user mechanism in the robot coordinate system is calculated based on this
operation.
6.3.8.2. Confirmation after operation
Check the parameter “BSWOFSTn”.
* This value indicates the offset from base coordinate origin of the robot to base coordinate origin of the user
mechanism.
6.3.8.3. When multiple user mechanisms are used
Carry out the same operations as above when multiple user mechanisms are used as well, but pay attention to
be following points.
Example) When using mechanism 3, J2 axis
(a) Copy the “A1” program, please create an “A2” program.
(b) Please change the mechanism number for variable “MMechaNo” in the “A2” program to “3”.
(c) Please change the parameter name for variable “CPrmName$” in the “A2” program to “BSWOFST2”.
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