4 Teaching
4.9 Teaching Coordinate
4-77
HW1485509
HW1485509
4. The popup menu opens with three buttons:
– {Cancel} - do not change Teaching Coordinate
– {Create New} - Create a new job with changed Teaching Coordinate.
This new job will have “-CONV#” appended to the end (e.g.
“SAMPLE” becomes “SAMPLE-CONV1”). This is the recommended
action as some position information can be lost in the conversion
between different coordinate types.
– {Convert Current} - This will convert the current job without making a
new job. Only perform this action if converting a new job or if the
information in the job is no longer needed.
When converting from World/Robot/User back to Joint, the
YRC Controller will calculate the resulting joint positions by
executing the motions internally starting from the current
Robot position. Thus, when doing this conversion, the
Robot should be moved to the expected starting position of
job. If the Robot is not in the expected starting position, this
operation may convert to the wrong path. Confirm the
motion path before playing the job.
For more information, refer to the “YRC1000 OPTIONS
INSTRUCTIONS FOR RELATIVE JOB FUNCTION
(HW1483390)" or “YRC1000micro OPTIONS
INSTRUCTIONS FOR RELATIVE JOB FUNCTION
(HW1484476)".
When converting to a User Frame, there will be a
Drop-down list to select the desired User Frame #.
In fig. 4-34, User Frame #10 is selected.
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