In the six-point (XZ) teaching method, a direction origin, an X-axis point parallel to the desired tool coordinate system, and a point on the XZ plane are selected. Teaching is then performed using Cartesian jogging or tool jogging to keep the tool's tilt constant.
step :
1. Press the [MENU] button to display the on-screen menu.
2. Select "Settings", move the cursor to the right and select "Coordinate System". A list of tool coordinate systems will appear.
3. Position the cursor in the row containing the coordinate system number of the tool you want to set.
4. Press F2 for "Details". The tool coordinate system setting screen for the selected coordinate system number will appear.
5. Press F2 "Method".
6. Select "Six-point method (XZ)".
7. Enter comments
Move the cursor to the comment line and press the EN TE R key.
b. Choose to use words or English letters.
c. Press the appropriate function key to enter a comment.
After entering the comment, press the ENTER key.
8. Record each reference point.
Here's an example using the following posture:
1) Record proximity point 1:
a. Move the cursor to approximate point 1;
b. After switching the teach coordinates to global coordinates ( WORLD ), move the robot so that the tool tip contacts the reference point;
c. Press [SHIFT] + F5 [RECORD] (Record Position). 2) Record proximity point 2:
a. Move the robot approximately 50mm along the global coordinate (WORLD) + Z direction;
b. Move the cursor to approach point 2;
c. Switch the teaching coordinates to joint coordinates and rotate the J6 axis (flange face) by at least 90 degrees, but not more than 180 degrees;
d. After switching the teach coordinates to global coordinates (WORLD), move the robot so that the tool tip contacts the target point;
e. Press [SHIFT] + F5 [RECORD] to record the location;
f. Move the robot approximately 50mm along the +Z direction of the global coordinate system (WORLD); 3) Record the approach point 3:
a. Move the cursor to approach point 3;
b. Switch the teaching coordinates to joint coordinates, and rotate the J4 and J5 axes, but not more than 90 degrees;
c. Switch the teach coordinates to global coordinates (WORLD), move the robot, and bring the tool tip into contact with the reference point;
d. Press [SHIFT] + F5 [RECORD] to record the location;
e. Move the robot approximately 50mm along the +Z direction of the global coordinate system (WORLD); 4) Record the Orient Origin Point.
a. Teach the robot's posture to be parallel to the two feature directions of the tool and the two directions of the global coordinate system (WORLD).
b. Move the cursor to the Orient Origin Point;
c. Press [SHIFT] + F5 [RECORD] (location record) to record;
5) Define the +X direction point:
a. Move the cursor to the X direction point;
b. Switch the teaching coordinates to global coordinates (WORLD);
c. Move the robot so that the tool moves at least 250mm in the desired +X direction;
d. Press [SHIFT] + F5 [RECORD] to record the location;
6) Define the +Z direction point:
a. Move the cursor to the Orient Origin Point;
b. Press [SHIFT] + F4 [MOVE_TO] to return the robot to the Orient Origin Point;
c. Move the cursor to the Z Direction Point;
d. Move the robot so that the tool moves at least 250mm along the desired +Z direction (in global coordinates (WORLD)).
e. Press [SHIFT] + F5 [RECORD] to record the location;
9. After teaching all reference points, "Used" will be displayed. The tool coordinate system is then set. 10. Hold down the SHIFT key and press F4 to "Move To," which will move the robot to the recorded point. 11. To confirm the position data of each recorded point, point the cursor at each reference point and press ENTER to view the detailed position data. To return to the previous screen, press the PREV (Return) key. 12. Pressing the PREV (Return) key displays a tool coordinate system overview screen. You can then confirm the settings of all tool coordinate systems.
13. To use the set tool coordinate system as the currently valid tool coordinate system, press F5 "Switch" and enter the coordinate system number. Note: If you do not press F5 "Switch", the set coordinate system will not be effective. You can also use SHIFT + COORD to select the desired coordinate system number. 14. To clear the set coordinate system data, press F4 "Clear".
