Appendix-678 Ex-T control
7Appendix
(2) Specifications
(3) Equipment and software version requirements
The Ex-T control can be used when the robot controller software version is the one shown in the table below
or later.
Table 7-21:Software version compatible with Ex-T control
7.4.2 Ex-T coordinates setting
When using the Ex-T control, setting is required for the externally fixed reference coordinates (Ex-T coordi-
nates).
• For polishing using the fixed grinder, the position where polishing is performed is the origin of the Ex-T
coordinates.
• For coating using the fixed dispenser, the nozzle tip position is the origin of the Ex-T coordinates.
(1) Setting
The Ex-T coordinates is specified using the same parameters/status variables as those of the work coordi-
nates. As is the case with the work coordinates, perform the following:
• Parameter setting using TB or RT ToolBox2
• System status variable setting in the robot program (MELFA-BASIC V)
Item Specifications
Compatible robot Vertical multiple-joint 6-axis robots, horizontal multiple-joint 4-axis robots
* The function is not available for the vertical multiple-joint 5-axis robots and the user mech-
anisms.
Compatible robot language MELFA-BASIC V
• The following commands have been added to MELFA-BASIC V.
• The functions of the following status variables of MELFA-BASIC V have been changed.
Number of Ex-T coordinates that can
be specified
Up to 8 (The coordinates system is specified with the parameters/status variables.)
Device Controller T/B
Compatible software version F-Q series: Ver. R5 or later
F-D series: Ver. S5 or later
R32TB/R33TB: Ver. 1.3 or later
R56TB/R57TB: Ver. 2.3 or later
Commands Explanation Page
EMvs (E Move S) Ex-T control linear interpolation 225
EMvc (E Move C) Ex-T control circular interpolation 217
EMvr (E Move R) Ex-T control circular arc interpolation 219
EMvr2 (E Move R 2) Ex-T control circular arc interpolation 2 221
EMvr3 (E Move R 3) Ex-T control circular arc interpolation 3 223
Variable name Array designation Page
P_WkCord Work coordinates number (1 to 8) 395
Externally fixed coordinates system
(Ex-T coordinates system)
Grinder
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