Work machine or robot control appts. - uses numerical control and user program to define machine polar coordinates, and defines null point or last position as reference

摘要

A robot or work machine can be operated by numerical control. The numerical control is part of a user program to define cartesian or polar coordinates. Program instructions (G110,G111,G112) are provided in the user program (AP) for the actual poles. When the user program has been run through, polar coordinates stored in a memory (5) are detected (D). The stored coordinates are used as reference values corresp. to the last reached work machine position. The stored coordinates may also correspond to the machine null point. ADVANTAGE - Indicates poles of polar coordinates.