9.2.2 Pose Recording Move Statement and Pose Assign Statement
You can edit the pose variable value in the move statement, including the pose variable or the pose variable assign statement.
Touch the [property] button in the move command (move statement) recorded as a pose variable. Then, the pose variable setting screen will appear.
Check and modify the current pose variable.
Current pose variable information. You can check and set the name, coordinate value, coordinate system format, etc.
[Name]: Name of the current pose variable
Coordinate value: The coordinate value of the current pose variable
Select an item using the cursor key.
After inputting a value in the desired item, press the <enter> key to reflect the change.
If the coordinate system format is set as an encoder, the coordinate value will not be changed.
[Coord. System]: The coordinate system format to express the position of the current pose variable
[Configuration]: When describing the position of the robot, there are multiple solutions because of the characteristics of the device, so the robot configuration is designated to uniquely describe the configuration.
This function can only be used when the coordinate system type is set as a base or robot.
For details on the robot configuration, refer to “2.3.2 Recording and Changing a Step Position.”
[OK]: You can save the changes.
[Previous]/[Next]: You can display the information of the previous or next step.
[Original Value]: You can display the original hidden pose value of the current step.
[Current Robot Pose]: You can display the value of the pose the robot is currently taking.
[Moving]: Touching the [Moving] button will move the robot to the recorded step position (Jog).
Touch the [Record] button. Then, the change will be saved in the job program, and the operation will end.
If you end the operation by pressing the <esc> key, the change will not be saved.
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