Chapter 12 Robot Control Statements
12-63
CHANGEWORK (Statement)
Function
Changes the user coordinate system.
Format
CHANGEWORK <User coordinate system number>
Explanation
This statement changes the user coordinate system to the coordinate system
designated by <User coordinate system number>.
This declaration is valid until the next CHANGEWORK statement is executed.
Numbers from 0 to 7 are valid for <User coordinate system number>.
User 0 signifies the base coordinate system.
Related Terms
WORK, WORKPOS
Example
DIM li1 As Integer
DIM lp1 As Position
Li1=1
Lp1 = (10, 10, 5, 0, 9, 0, 1)
WORK 1, lp1
'Declares the user coordinate system designated by position
'type variable lp1 in user coordinate system 1.
CHANGEWORK li1
'Changes to the user coordinate system denoted by the user
'coordinate system number designated in li1.
Notes
If TAKEARM is executed, WORK0 is set.
(However, this is not applicable to a subroutine.)
Comments to this Manuals