Point Teaching

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What is Teaching?

Teaching refers to a method of programming in which you guide a robot through its motions using the teach pendant. In teaching, the robot is taught its motion.

In programming, you can specify positions as constants. However, in order to make the robot accurately learn the relative positional relationship between itself and objective point, you need to move the robot actually on site. Consequently, you write positions as variables in programming and assign actual values to those variables by on-site teaching.

Owner’s Manual
https://www.fa-manuals.denso-wave.com/en/usermanuals/005220/

Global Variables Available in Teaching

A variable refers to a program identifier for a storage location which can contain any number or characters and which can vary in a program. There are two types of variable; global variables and local variables.

While global variables can be referred from any programs, local variables are effective within respective programs. For teaching process, global variables are available.

The following three types of global variables are available in teaching.

– Pos. (Position variable) (X,Y,Z,RX, RY, RZ, FIG) [6-axis/4-axis]
– Joint.(Joint variable) (J1,J2,J3,J4, J5, J6, J7, J8) [6-axis/4-axis]
– Tran. (Homogeneous transform matrix variable) (X, Y, Z, 0x, 0y, 0z, Ax, Ay, Az, FIG) [6-axis/4-axis]

Up to 32766 variables can be used per variable type, but the actual number available may be smaller depending on the controller memory size available.

For each variables, initial variable size are Pos.:100, Joint:100, Tran.:50.

Owner’s Manual
https://www.fa-manuals.denso-wave.com/en/usermanuals/005221/


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