4 Teaching
4.9 Teaching Coordinate
4-75
HW1485509
HW1485509
4.9 Teaching Coordinate
The Teaching Coordinate of a Job defines the coordinate system that is
used for teaching positions. By default, the Teaching Coordinate is set to
Joint; however, a user can change to the following values:
• Joint
• Robot
• World
• User
Changing the Teaching Coordinate converts all taught positions inside the
job to a new type. For example, if changing the Teaching Coordinate from
Joint to Robot, all current positions are converted to X/Y/Z/Rx/Ry/Rz data
and any new positions are taught with X/Y/Z/Rx/Ry/Rz data.
The most common use case for changing Teaching Coordinate is to use
User Frame Coordinates to define re-usable jobs relative to workspace
objects such as pallets. An application example of this is shown in chapter
4.9.2 “Application Example”.
World and Robot coordinates are often useful as X/Y/Z/Rx/Ry/Rz data is
easier to read and interpret than Joint positions. These coordinates are
also used for offline teaching. For more details about offline teaching,
please refer to “YRC1000 OPTIONS INSTRUCTIONS FOR RELATIVE
JOB FUNCTION (HW1483390) chapter 4 or YRC1000micro OPTIONS
INSTRUCTIONS FOR RELATIVE JOB FUNCTION (HW14884476)
chapter 4. Interface with an Easy Offline Teaching System”
Teaching Coordinate (also known as Relative Job on the
YRC Pendant) is a purchased option that may or may not
be included with the system.
Changing Teaching Coordinate will only affect motion
instructions taught using {TEACH} and not motion
instructions inserted from Commands panel.
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