System Setup
9 - 126
9.5.3 Changing and registering the work home position
1. Press the axis button in the home position display.
– Move the robot to the new work home position.
2. Press [MODIFY] and [ENTER].
– The new work home position is set.
NOTICE
If the work home position is changed, the cube interference area is automatically set as
cube 64 to 57 in the base coordinate system.
– Cube 64 is for ROBOT 1
– Cube 63 is for ROBOT 2
– Cube 62 is for ROBOT 3
– Cube 61 is for ROBOT 4
– Cube 60 is for ROBOT 5
– Cube 59 is for ROBOT 6
– Cube 58 is for ROBOT 7
– Cube 57 is for ROBOT 8
The work home position cube is a cube as shown in figure below; the length of its sides
(a in figure below) is determined by a parameter of S3C1097 (units: m).By changing
the contents of this parameter, the size of the cube can be changed (The initial value is
10cm).
Fig. 9-3: S3C1097: The length of the sides of the work home position cube (μm)
Specify whether “COMMAND POSITION” or “FEEDBACK POSITION” is to be set to
the work home position cube signal’s CHECK MEASURE in the interference area
settings. “COMMAND POSITION” is the default setting.
For the INTERFERENCE AREA window, refer to chapter 9.6 "Interference area".
P
a
a
2
2
a
2
a
To Next Page
Loading...
