YRC1000micro: Relative Job Function

1 Relative Job
    1.1 Coordinate Systems
    1.2 Relative Job Shift Functions
2 Examples of Use of Relative Jobs
    2.1 Shift Function to Offset Workpiece Position Error
    2.2 A Single Manipulator to Work on the Same Type of Workpiece in Different Locations
        2.2.1 By Modifying the Teaching Coordinate
        2.2.2 By Converting the User Coordinate When Operating
    2.3 Using One Job on Multiple Manipulators
3 Operations Related to Relative Jobs
    3.1 Converting into a Related Job
    3.2 Verification of Information Related to Relative Job
        3.2.1 Verifying Coordinate System
        3.2.2 Verifying Command Positions
    3.3 Instructions Related to Relative Job
        3.3.1 CALL/JUMP
        3.3.2 MFRAME
        3.3.3 Registering an Instruction
    3.4 Editing Relative Jobs
        3.4.1 Blink Indication of Move Instruction on Job Content Window
        3.4.2 Addition and Modification of Steps
        3.4.3 Cut & Paste Function
    3.5 Relative Job Operation Method
        3.5.1 Previous Step Regarded (Constant B-Axis Sign)
        3.5.2 Previous Step Regarded (Minimum R-Axis Movement)
        3.5.3 Type Regarded
4 Interface with an Easy Offline Teaching System
    4.1 Job Data Format
        4.1.1 JOB
        4.1.2 NAME
        4.1.3 POS
        4.1.4 INST
    4.2 Relative Job Data Examples
        4.2.1 Job for User Coordinate System No. 3, Only for Robot Axis (6-Axis Robot)
        4.2.2 Job for User Coordinate System No. 3, Only for Robot Axis (7-Axis Robot)
        4.2.3 Job for Robot Axis (6-Axis) + Base Axis (Base Coordinate System)
        4.2.4 Job for Robot Axis (6-Axis) + Base Axis + Station Axis (Base Coordinate System, Single Job)
        4.2.5 Job for Robot Axis (6-Axis) + Base Axis + Station Axis (Base Coordinate System, Coordinate Job)
        4.2.6 Job for Robot Axis (6-Axis) + Robot Axis (6-Axis) (Base Coordinate System, Coordinate Job)
        4.2.7 Job for Robot Axis (7-Axis) + Robot Axis (6-Axis) (Base Coordinate System, Coordinate Job)
    4.3 Configuration of Position Data
        4.3.1 Position Data of Each Axis
            4.3.1.1 Robot Axis
            4.3.1.2 Station Axis
            4.3.1.3 Base Axis
        4.3.2 Position Data of Each Coordinate System
            4.3.2.1 Base Coordinate System
            4.3.2.2 Robot Coordinate System
            4.3.2.3 User Coordinate System
    4.4 Manipulator Type
        4.4.1 Flip/No-flip
        4.4.2 R-Axis Angle
        4.4.3 T-Axis Angle
        4.4.4 Front/Back
        4.4.5 Upper/Lower Arm (Type Comprised of L-Axis and U-Axis
        4.4.6 S-Axis Angle
5 Alarm and Error Message List
    5.1 Alarm Messages
    5.2 Error Messages
6 Instruction List