Setting Auxiliary Axes in Teach

You can launch Compute Rail Values command while in the Teach environment and use it to automatically compute rail DOF values for the motion targets currently taught. When the rail values have been computed, you can then continue teaching the current task.

Before you begin: You have a manufacturing cell or sub-cell containing a robot task for a robot on a rail. The rail can have multiple DOFs.
  1. From the Programming section of the action bar, click Teach .
  2. Select a motion instruction whose target is unreachable with current rail DOF values.
  3. From the Programming section of the action bar, click Compute Rail Values .
    The Teach environment becomes temporarily hidden, and the Rail Axes Programming dialog box appears. Selections made in Teach are retained for the Rail Axes Programming session.
  4. Use the Rail Axes Programming functionality as usual, with any of the interpolation strategies to compute the rail values for the selected motion.
  5. Click OK to close the Compute Rail Values dialog box.
    The Teach environment returns automatically, and retains the newly computed rail DOF values for the specified motion target.