Skip to main content

9.2.1. Hidden pose MOVE sentence

9.2.1. Hidden pose MOVE sentence​

 

This is a function that confirms, or modifies the current step location from the hidden pose MOVE sentence (step that recorded by the [REC] key of Teach Pendant, which is the MOVE sentence that does not include the post variable).

 

(1)   Position of current step appears as in following screen if pressing the [Quick Open] key in the MOVE sentence recorded as hidden pose.

 

 

(2)   Move the cursor line to the item. If inputting figure, contents are reflected if pressing the [ENTER] key after numbers in the Input frame.

 

(3)   Please press the [SHIFT] + [<-] [->] key to control the radio button.

 

(4)   Step number (S)

It displays the current step number. If you enter another step number and press [ENTER], it will move to the step. 

 

(5)   Coordinates value of the current step

It displays the factor values of the step. Use cursor key to select the item that you wish to make changes. Enter the integer value and press [ENTER] to reflect the changes. However the changes will not be made if the Encoder has been selected as the type of coordinates system.

 

(6)   Types of coordinates system

It selects the types of coordinates system (among the Base coordinates system, Robot coordinates system, axis angle, User coordinates system, Encoder value) that will represent the current step location.

 

(7)   Robot’s structure component

It is displayed when the type of coordinates system is Base or Robot.

When Robot’s location is to be recorded, plural value may exist due to the characteristics of the equipment, so the Robot’s structure component must be configured in order to record the unique value for its location

 

(8)   『[F1]: Current robot pose / Original value』

If press once, the value of the Robot’s current pose will be displayed. If press once more, the hidden original value of the current step will be displayed (Toggle operation)

 

(9)   『[F3]: Moving』

While pressed, the Robot will move to the location of recorded step (Jog)

 

(10) 『[F4]: Previous』/『[F5]: Next』

Move to the previous step / Next step.

 

(11) 『[F7]: Record』

Reflect to the job program. If press [ESC] to finish without records it, the contents that displayed on the screen will not be reflected.