Denso RC5 Specifikace stáhnout pdf (Strana 678)

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Functions to move the coordinate system

Although the PAC language does not support coordinate system moving functions (TRANS

command) of conventional language commands, you can move the coordinate system with the

position operation. For details refer to Part 1 Chapter 1, subsection 1.9.7 “Position Operation”.

For the coordinate system, there are methods to use Type P variables and Type T variables, and

they can change the work coordinate references and the tool coordinate system references.

If you move the coordinate system to the Type J variable, it is converted to a Type P or a Type T

variable with JP2 or J2T.

(1) If Type P variables are used

1. Designate the relative movement distance with the work coordinate system as the

reference.

Pn = Pm + ( X, Y, Z, Rx, Ry, Rz)

Obtain the position Pn: from the reference position Pm, the position moves in millimeters

(mm) by X, Y, and Z in the directions of the X, Y and Z axes of the respective work

coordinate systems. The posture rotates in degrees of Rx, Ry, and Rz around the X, Y and

Z axes of the respective work coordinates. The robot assumes the Pm figure.

2. Designate the relative movement distance with the tool coordinate system as the reference.

Pn = Pm + ( X, Y, Z, Rx, Ry, Rz) H

Obtain the position Pn: from the reference position Pm, the position moves in millimeters

(mm) by X, Y, and Z in the directions of the X (normal vector), Y (orient vector) and Z

(approach vector) axes of the respective work coordinate systems. The posture rotates in

degrees of Rx, Ry, and Rz around the X (normal vector), Y (orient vector) and Z (approach

vector) axes of the respective work coordinates. The robot assumes the Pm figure.

(2) If Type T variables are used

1. Designate the relative movement distance with the work coordinate system as the

reference.

DEFTRN LT1, LT2

DEFPOS LP1

LP1= (0, 0, 0, Rx, Ry, Rz)

LT1=P2T(LP1)

LT2=Tm

LETP LT2 = (0, 0, 0)

Tn=LT1*LT2

LETP Tn = PVEC(Tm) + (X, Y, Z)

LETF Tn = FIG(Tm)

Obtain a position Tn: from the reference position Pm, the position moves in millimeters

(mm) by X, Y, and Z in the directions of the X, Y and Z axes of the respective work

coordinate systems. The posture rotates in degrees of Rx, Ry, and Rz around the X, Y and

Z axes of the respective work coordinates. The robot becomes the Tm figure.

2. Designate the relative movement distance with the tool coordinate system as the reference.

DEFTRN LT1

DEFPOS LP1

LP1=(X, Y, Z, Rx, Ry, Rz)

LT1=P2T(LP1)

Tn=LT1*LT2

LETF Tn=FIG(Tm)

Obtain the position Pn: from the reference position Pm, the position moves in millimeters

(mm) by X, Y, and Z in the directions of the X (normal vector), Y (orient vector) and Z

(approach vector) axes of the respective work coordinate systems. The posture rotates in

degrees of Rx, Ry, and Rz around the X (normal vector), Y (orient vector) and Z (approach

vector) axes of the respective work coordinates. The robot becomes the Tm figure.

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