Used Robots.com: Motoman XRC Arc Welding

Created: 99-02-16 Revised: 99-08-18 Operator's manual MOTOMAN XRC Page: 51 Weaving basic coordinate system MOTOMAN ROBOTICS EUROPE 2. Weaving condition file 2.1 Weaving basic coordinate system Weaving is performed based on the following coordinate system. This coordinate
system is generated automatically when weaving is executed. Wall Direction: Z direction of the robot axis
Horizontal Direction: The direction of approach point from the wall
Advance Direction: The direction which moves from the weaving start point to the
end point. Note! The approach point is a point indicated by a step immediately before the step
where weaving starts. Note! Depending on the mouthing and shape of the workpiece, a definition of the above
coordinate system may not be sufficient to generate a weaving pattern. In that
case, register the reference point REFP 1 or REFP 2. For details, refer to “Cases
that Require the Registration of Reference Points”. Horizontal direction Wall direction Advance direction Z-Axis Wall direction Approach Horizontal
direction point


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