Mitsubishi Electric CR750-Q Instruction Manual page 464

5Functions set with parameters
Parameter
Work coordinates WKnCORD
WKnWO
WKnWX
WKnWY
5-444 Movement parameter
Parameter
No. of arrays
name No. of characters
Real value 6 The work coordinates for work jog operation
"n" is 1 to 8
Real value 3 Set the position of the work coordinates origin as a teaching
"n" is 1 to 8
Real value 3 Set the position of "+X" axis of work coordinates as a teaching
"n" is 1 to 8
Real value 3 Set the position at the side of "+Y" axis on the X-Y plane of work
"n" is 1 to 8
Details explanation
(X,Y,Z,A,B,C) Unit: mm or degree
It is used as standard coordinates and work coordinate data in
the work jog.
When the software version is R5(F-Q series)/S5 (F-D series) or
later, it is also used as the control point in the Ex-T control (Ex-T
coordinates).
Refer to Page 677, "7.4 Ex-T control"
When using it as work coordinate data, the valid axial element
differ depending on the robot type.
Refer to Page 473, "5.7 About Standard Base
The work coordinates defined by operation of T/B are set.
However, inputting the coordinate value into this parameter can
also define work coordinates. In this case, each coordinate value
of the three teaching points for defining the work coordinates is
cleared by 0. (Parameter: WKnWO, WKnWX, WKnWY ("n" is 1-
8))
Work coordinates
+Zw
WKnCORD
Teaching point: WO
WKnWO
Teaching point: WX
WKnWX
+Xw
Teaching point: WY
Work
WKnWY
Note) To manage easily, you should teach work coordinates in
the condition that not convert the base coordinates. (Base
coordinates and the world coordinate are in
agreement.)Especially, it is necessary when defining two
or more work coordinates.
position of work coordinates. (Correspond to "WO" of the teach-
ing operation by T/B. Refer to above figure)
(X, Y, Z) Unit: mm
Notes) The work coordinates are not defined by merely inputting
this coordinate value. Calculate the work coordinates by
performing [DEFINE] on the TB work coordinate setting
screen or by performing [Write] on the RTToolBox2 work
coordinate parameter screen.
position of work coordinates. (Correspond to "WX" of the teach-
ing operation by T/B. Refer to above figure)
(X, Y, Z) Unit: mm
Notes) The work coordinates are not defined by merely inputting
this coordinate value. Calculate the work coordinates by
performing [DEFINE] on the TB work coordinate setting
screen or by performing [Write] on the RTToolBox2 work
coordinate parameter screen.
coordinates. (Correspond to "WY" of the teaching operation by
T/B. Refer to above figure)
(X, Y, Z) Unit: mm
Notes) The work coordinates are not defined by merely inputting
this coordinate value. Calculate the work coordinates by
performing [DEFINE] on the TB work coordinate setting
screen or by performing [Write] on the RTToolBox2 work
coordinate parameter screen.
for Ex-T control.
Coordinates".
+Z
+Y
+Yw
Base coordinates
+X
Factory setting
(0.00, 0.00, 0.00,
0.00, 0.00, 0.00)
(0.00, 0.00, 0.00)
(0.00, 0.00, 0.00)
(0.00, 0.00, 0.00)