Operation 3. TEACH/T1 Mode
58
RC700-A option TP3 Rev.8
CAUTION
■
When abnormal operation such as collision with peripherals is predicted, release
the <EXE.> key immediately and stop the robot.
The robot also can be stopped by releasing the Enable switch, or push the switch
harder.
■
After performing program verification, be sure to follow the points below:
- Check the changed parts in software before supplying power.
- Perform function test to check whether the robot system operates
normally.
In TEST mode, a program cannot be changed. To change the program, edit it in the
[Programming] panel (Reference:
Operation 3.3 Programming
)
To change the point data, perform the following:
Teach the point in the [Jog & Teach] panel.
Reference:
Operation 3.2 Jog & Teach
Edit the point data in the [Programming] panel.
Reference:
Operation 3.3 Programming
Task Behavior during Single Task Program Verification:
Background tasks stop when switching the mode to TEST mode.
The tasks resume when switching to TEACH mode.
Behavior of Events and Tasks
Event
Task Type
Background
Task
Normal
NoPause
NoEmgAbort
Enable switch is OFF
Pause
*1
*1
*2
<EXE.> key is OFF
Pause
*1
*1
*2
Change Open/Close status of
the Safety Door
Pause
*1
*1
*2
Error during a test
Abort
*1
*1
*2
Emergency stop
Abort
*1
*1
*2
Switch a key switch
Abort
*1
*1
*2
*1 Xqt task types (NoPause, NoEmgAbort) cannot be executed.
When these tasks are specified, they are performed the program verification as normal tasks.
*2 When background tasks are specified, they are performed the program verification as normal tasks.