10.3 Example of Conversion
10-4
10.3
Example of Conversion
Example 1: Convert the shift value in the operation job
• When the shift value is given by the robot coordinate system and the shift is made during
the coordinated operation.
• The job control group is R1 + S1
• The robot coordinate system shift value is regarded to be set to P001.
Line
Step
0
0
NOP
1
1
MOVJ VJ=50.00
+MOVJ VJ=50.0
2
GETS PX002 $PX000
••••••••••
Set the present position to P002
and EX002.
3
CONVSFT P000 P001 P002
MTF
••••••••••
Convert the shift value to master
tool coordinate system at the
present station position.
4
SSFTON P000
•••••••••• Coordinated shift starts
5
2
SMOVL V=1000
Register the move instruction
between SSFTON and SSFTOF
with the coordinated instruction
(SMOVL/SMOVC)
+MOVJ
6
ARCON
ASF#(1)
7
3
SMOVL V=100
+MOVJ
8
4
SMOVL V=100
+MOVJ
9
ARCOF
10
SSFTOF
•••••••••• Coordinated shift ends
11
5
SMOVL V=500
+MOVJ
12
6
MOVL VJ=50.00
+MOVL VJ=50.0
13
END
Create the shift value of the robot coordinate system with the same position as the step
position at which the shift value of the station axis position is made converted its coordinate
system by CONVSFT instruction.
NOTE
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