Mitsubishi Electric CR750-Q Instruction Manual page 195

Zw
Current world coordinate (=Base coordinate)
Fig.4-13:Base conversion with a work coordinate system number being specified
CAUTION
[Related parameter]
MEXBS,WKnCORD
[Related system variables]
M_BsNo, P_Base/P_NBase,
New world coordinate 1
(Work coordinate 1)
Yw
Performing a base conversion changes the robot's current position to values that
refer to the newly established world coordinate system or work coordinate system.
The target position specified by the movement command will also be treated as a
position in the newly established world coordinate system or work coordinate sys-
tem.
As a result, data taught till then may become unusable as it is. The coordinate
system when taught needs to be the same as the newly established coordinate
system.
If they do not match, the robot can stray to unexpected positions, possibly result-
ing in property damage or personal injury.
When using the base conversion function, be sure to maintain positive control
over relation between the base coordinate system subject to conversion and the
position which the robot is taught to take so that a proper robot operation and an
effective use of the base conversion function are insured.
("n" is 1 to 8), MEXBSNO
P_WkCord
Zw1
Yw1
Yw2
Detailed explanation of command words 4-175
4MELFA-BASIC V
Xw1
Zw2
New world coordinate 2
(Work coordinate 2)
Xw2
Xw