Teaching a Position
Teaching the robot a position is a common task that generally involves putting the robot in the desired position and then recording the position for later use.
Teaching a position
Teaching the position of a screw. The position is always taught with the Teach Pointer in the screw head, and not the hole. The screw must driven all the way down.
Insert the Teach Pointer into the tool. See Manual Bit Changing.
Move the robot into the desired pose. This is typically done in backdrive mode by pressing and holding the backdrive button on the robot wrist or on the teach pendant.
With the teach pendant in Program Mode press the
button.Select variable type Pose and enter a name for the variable.
Now you can align the tool to the desired orientation by entering values 180 and 0 in the R (roll) and P (pitch) fields respectively. This applies to the common situation where the screwdriving axis is perpendicular to the surface that the robot is mounted on and the reference frame is the world frame.
Move the robot to the alligned position by pressing and holding the Move Robot L button.
Save the position by pressing Define Pose in the Pose/Options tab and then Define in the Define Pose from TCP tab.
The position is now stored in a variable and can be used in a program command like Drive Screw or Load Screw.
Note
It is possible to move the robot into the desired position by using the Jog buttons on the robot. However, when the Teach Pointer meets the surface, make sure that the tool is not pushed upwards and away from it’s resting position in the safety rail slider on the back of the tool. It is a common mistake to teach the robot a false position because the tool is not in it’s resting position.