ID : 321

Work

Function

To set work coordinates.

Syntax

Work work coordinate number, coordinate data[, attribute]

Guaranteed Entry

Work coordinate number: Designate a work coordinate number from 1 to 7 by Integer Type data.
Coordinate data: Designate elements of each coordinate (X, Y, Z, RX, RY, RZ) by Position Type data.
Attribute: Designate an attribute value (0： Standard, 1： FixedTool(Fix)) by Integer Type data. This is omittable. This will be 0 if it is omitted.

Description

Work coordinates of the specified work coordinate number is overwritten by Position Type data designated in coordinate data.

FIG element of the Position Type data is ignored.

Even if a set value of the current work coordinates is changed, the value is applied to the current work coordinate setting upon execution.

To execute this command, the task must acquire robot axis control.

Attention

Even if the Next option is attached to the preceding motion command, this command is not executed until the previous command is completed. Refer to Motion-related Statement.
Attribute "1" cannot be assigned to WORK0 (base coordinate).
The values set by this command are effective until the controller power OFF.
Once the controller power turns OFF, the values will be cleared.
To retain values after the controller power OFF, set values with a teach pendant.
Or alternatively, set with WINCAPSIII and send it to the robot controller. For details, refer to the "Displaying and Setting Work Coordinates" of TEACH PENDANT OPERATION GUIDE or "Work Setting" of WINCAPSIII GUIDE.

Example

'!TITLE "Declaration of Work Coordinates"
' Declare work coordinates 1 and 2
Sub Sample_Work

  TakeArm Keep = 1

  ' To the work coordinate number 1, declare coordinates assigned to P[1]
  Work 1, P[1]

  ' To the work coordinate number 2, declare coordinates where X and Y are "100" and Z is "50"
  Work 2, P( 100, 100, 50, 0, 0, 0 )

End Sub

'!TITLE "Sample.pcs"
'Example of the External TCP motion execution
Sub Main

  TakeArm Keep = 0
  ExtSpeed 20

  ' Set the attribute of work elements to the External TCP
  Work 1,P(400,0,400,0,0,0),1

  ' Activate the External TCP motion
  ChangeWork 1

  Move P,@0 P(100,0,100,180,45,180,5)
  Move L,@0 P(0,0,0,180,0,180,5)

End Sub