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7.1.1. Pose Record Type

7.1.1. Pose Record Type

 

When you move the robot and press the [REC] key, the position of the robot is recorded in a hidden position. This function sets the robot’s recording position.

 

n Base: The position is recorded based on the base coordinate.

 

n Robot: The position is recorded based on the robot’s coordinate.

 

n Axis: The position is recorded in axis angel value.

 

n U

When the user coordinate is not set, the position in the currently set user coordinate will be recorded.

 

n Un

Records the currently set user coordinate number and the position at this number. The step recorded through this method will follow the coordinate number recorded in the hidden pose unconditionally, differently from U. Accordingly, when required to move/change the coordinate, the setting of the coordinate number of the hidden pose or the user coordinate of the number should be changed.

 

 

 

If the current coordinate is set as User [1] and the robot is positioned on .

 

(1) When recorded as U

- Change the coordinate to User [2] and move to the relevant step. Then, the robot will move to

 

(2) When recording with Un set to 1

- Even when the coordinate is changed to User [2], movement to will occur when the movement to the relevant step occurs.

- However, when the set coordinate of UN is changed to 2, the robot will move to

Figure 7.4 Difference between U and Un