Motoman XRC 2001, Operator'S Manual

Page: 128 / 387

2.2 General Operations
2-3
2.2
General Operations
2.2.1
Selecting a Coordinate System
n
Motion Type Key
Select a coordinate using the following procedure:
Press [MOTION TYPE]. Each time this key is pressed, the coordinate is switched in the fol-
lowing order:
Check the selection in the status area of the display.
Joint
à
à à
à
Rectangular(Cylinder)
à
à à
à
Tool
à
à à
à
User
2.2.2
Selecting Manual Speed
Manual speed can be set to fast, medium, slow, or inching. In addition, high speed is also
possible using the [HIGH SPD]. The manual speed set is also effective for [FWD] / [BWD]
operations in addition to the axis operations.
n
Selecting with Manual Speed Keys
Press [FST] or [SLW]. Each time [FST] is pressed, manual speed is changed in the following
order. Confirm the speed in the status display area.
• Each time [FST] is pressed, the manual speed changes in the following order: INCH,
SLOW, MED, and FST.
• Each time [SLW] is pressed, the manual speed changes in the following order: FST,
MED, SLOW, and INCH.
When the manipulator is operated with the programming pendant, the highest speed of the
Tool Center Point is limited to 250 mm/sec.
INCH SLW MED FST
FST MED SLW INCH
N OT E
F S T
M A N S P E E D
S L W
M A N S P E E D