WORK
(Statement)
Declare a user-defined coordinates.
WORK <user-defined coordinates number>,<position variable>[,<attribute>]
This statement declares the coordinates assigned to <position variable> as the user-defined coordinates numbered by <user-defined coordinates number>.
<user-defined coordinates number> has a range of 1 to 7.
<attribute> is an attribute (0: standard, 1: fixed tool) to be added to the work coordinates. If this parameter is omitted, <attribute> is assumed to be "0." (Ver. 3.0 or later)
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The values specified for X, Y, and Z elements of work coordinates should be within the range specified for the robot work area. If not, the specified robot position may shift due to an arithmetic overflow.
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The parameters configured with this statement retain their values as long as the power is on. To retain them even after the power is turned off, change the "Restoration of TOOL/WORK data" in user preferences.
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Even changing the values of coordinates currently specified by <user-defined coordinates number> using the WORK statement does not change the robot's work coordinates. To change them, select the user-defined coordinates number again with the CHANGEWORK statement.
6-axis
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DEFINT li1 li2
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WORK 1, P1
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'Declare coordinates assigned to position
'variable 1 as work coordinate system numbered 1
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WORK li1, P[li2]
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'Declare coordinates assigned to position
'variable li2 as work coordinate system
'number assigned to li1
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WORK li1, (100,100,50,0,0,90)
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WORK li1, P[li2], 1
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'Declare coordinates assigned to position
'variable li2 as work coordinates numbered li1
'with fixed tool
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WORK li1, (100, 100, 50, 0, 0, 90) , 1
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'Declare work coordinates numbered li1
'with fixed tool
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4-axis
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DEFINT li1 li2
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WORK 1, P1
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'Declare coordinates assigned to position variable 1
'as work coordinate system numbered 1
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WORK li1, P[li2]
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'Declare coordinates assigned to position variable li2
'as work coordinate system number assigned to li1
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WORK li1, (100,100,50,0)
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WORK li1, P[li2], 1
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'Declare coordinates assigned to position variable li2
'as work coordinates numbered li1 with fixed tool
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WORK li1, (100, 100, 50, 90) , 1
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'Declare work coordinates numbered li1
'with fixed tool
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