Alteration of points

There are several ways of modifying a point without re-teaching it. You can change one or more coordinate values with relative offsets or absolute values.

To set an absolute value for a coordinate, use a colon followed by the axis letter and the value.

To add a relative offset to a coordinate, use an axis letter followed by the offset value or expression in parentheses.

If the offset is negative, then precede the axis letter with the minus sign. If parentheses are omitted, they will be automatically added.

Go P1 -Z(20)

Move to P1 with a z offset of 20mm.

Go P1 :Z(-25)

Move to P1 with a z absolute position of -25mm

Go P1 -X(20) +Y(50) :Z(-25)

Move to P1 with offsets for X and Y relative offsets and an absolute position for Z

Point alternation of 6-axis robot

When changing the orientation by roll (U), pitch (V), and yaw (W) in the SPEL+ program, adding the angles to V and W axes (e.g. +V(10), +W(10)) does not mean the rotation of Y and X axes in the robot coordinate system. To change the orientation (U, V, and W) after teaching the points, set the robot to actual posture by Jog & Teach in the Robot Manager.