4 Teaching
4.9 Teaching Coordinate
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HW1485509
HW1485509
4.9.2 Application Example
The most common Teaching Coordinate to use is “User”. This can be
used in combination with User Frames and the “Call” instruction to re-use
code to perform complex operations.
For example, consider the application in fig. 4-36 where a Robot needs to
perform the same actions for workpieces in three different locations.
Fig. 4-36: Robot with Three Workstations
The basic procedure for using Teaching Coordinate to accomplish this is
as follows:
1. Create a job for a single Workpiece (e.g. “WORKPIECE”)
2. Teach a User Frame (e.g. UF#1) for the workpiece in that location.
3. Change the Teaching Coordinate of the job created in step 1 to the
User Frame taught in step 2.
4. Move to another workpiece location and teach a new User Frame
(e.g. UF#2).
5. Repeat step 4 for all workpiece locations.
6. Specify the User Frame when calling the “WORKPIECE” job from the
controlling job as shown in fig. 4-37. As long as the Teaching Coordinate
of the called job is “User”, this will override the internal User Frame # and
use the User Frame # in the parameter instead.
Fig. 4-37: Sample Code
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