2.2 A Single Manipulator to Work on the Same Type of Workpiece in Different Locations
2-5
HW0481924
2.2.2 By Converting the User Coordinate when Operating
A single relative job can be executed at more than one position. In this way, the memory can
be used effectively.
1. Create job “ABCDEF” for a single workpiece.
2. Teach a user coordinate system (for instance, UF#1) for the workpiece in that location.
3. Convert the job created in step 1 into a relative job using the user coordinate system
taught in step 2.
4. Move the workpiece to another location and teach another user coordinate system (for
instance, UF#2) for the workpiece in that location.
5. Specify the operating coordinate system when calling the work job from a control job.
When the CALL instruction is executed, relative job “ABCDEF” that was taught using
UF#1 is performed using UF#2.
6. To create more jobs to execute at other locations, repeat steps 4 and 5 using other
user coordinate system numbers.
The manipulator is not always capable of carrying out the operation depending on the
operating position. Do not force the manipulator to make excessive position changes.
NOP
CALL JOB:ABCDEF UF#2
END
NOTE
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