Motoman XRC 2001, Operator'S Manual

Page: 154 / 387

3.2 Teaching
3-11
Setting Position Level
The position level is the degree of apporoximation of the manipulator to a taught position.
The position level can be added to move instructions MOVJ (joint motion type) and MOVL (lin-
ear motion type). If the position level is not set, the precision depends on the operation speed.
Setting an appropriate level moves the manipulator in a path suitable to circumferential condi-
tions and the workiece. If the position level is not set, the precision depends on the operation
speed. Setting an appropriate level moves the manipulator in a path suitable to circumferen-
tial conditions and the workpiece. The relationship between path and accuracy for position
levels is as shown below.
Position Level
*1
The motion type is displayed in the input buffer line. When the motion type is selected,
the detailed edit display is shown.
The position level can be set at the same time that the move instruction is registered.
Select move instruction (MOVJ or MOVL)
*1
Select the position level “UNUSED”.
*2
Select “PL=”
*3
Press [ENTER] Press [ENTER]
*4
S U P P L E -
M E N T
Position levels Accuracy
0 Teaching Position
1
to
4
Fine
|
Rough
O peration
Explanation
=> M O V J VJ= 50.00
DETAIL EDIT
M O V J
JOINT SPEED VJ= 50.00
POS LEVEL
U N U S E D
NWAIT UNUSED
= > M O V J V J = 5 0 . 0 0
!
R1
S
C
L
J O B E D I T D I S P L A Y UTILITY