What is Teaching?

Teaching refers to a method of programming in which you guide a robot through its motions using the teach pendant. In teaching, the robot is taught its motion.

In programming, you can specify positions as constants. However, in order to make the robot accurately learn the relative positional relationship between itself and the objective point, you need to move the robot actually on site. Consequently, you write positions as variables in programming and assign actual values to those variables by on-site teaching.

Owner's Manual
https://www.fa-manuals.denso-wave.com/en/usermanuals/005220/


Global Variables Available in Teaching 

A variable refers to a program identifier for a storage location that can contain any number of characters and which can vary in a  program. There are two types of variables; global variables and local variables.

While global variables can be referred from any program, local variables are effective only within respective programs. For the teaching process, global variables are available.

The following three types of global variables are available in teaching.

- Pos. (Position variable) (X,Y,Z,RX, RY, RZ, FIG) [6-axis/4-axis]
- Joint. (Joint variable) (J1,J2,J3,J4, J5, J6, J7, J8) [6-axis/4-axis]
- Tran. (Homogeneous transform matrix variable) (X, Y, Z, 0x, 0y, 0z, Ax, Ay, Az, FIG) [6-axis/4-axis]

Up to 32766 variables can be used per variable type, but the actual number available may be smaller depending on the controller memory size available.

For each variable, the initial variable sizes are Pos.:100, Joint:100, Tran.:50.

Owner's Manual
https://www.fa-manuals.denso-wave.com/en/usermanuals/005221/