Motoman XRC 2001, Operator'S Manual

Page: 156 / 387

3.2 Teaching
3-13
Steps P2, P4, and P5 are simple passing points, and do not require accurate positioning.
Adding PL=1 to 4 to the move instructions of these steps moves the manipulator around the
inner corners, thereby reducing the cycle time.
If complete positioning is necessary as P3 or P6, add PL=0.
<EXAMPLE>
Passing points P2, P4, and P5:
MOVL V=138 PL=3
Positioning point P3 and P6
MOVL V=138 PL=0
n
Registering Reference Point Instructions
Reference point instructions (REFP) set an auxiliary point such as a wall point for weaving.
Reference point Nos. 1 to 8 are assigned for each application. Follow the procedure below to
register reference point instructions.
*1
Move the cursor to the line immediately before the position where the reference point to
be registered.
*2
The servo power is turned on.
*3
The reference point instruction is displayed in the input buffer line.
*4
Move the cursor to the reference point number, and press [SHIFT] +
the cursor key
to
change the reference point number.
If you use the number keys to input the reference point number, press [SELECT] when
the cursor is on the reference point number. The data input line is displayed. Input the
number and press [ENTER].
Select {JOB} under the top menu Select {JOB} Move the cursor
*1
Grasp
the deadman switch Press the axis operation key Press [REF PNT]
*3
Change the reference point number
*4
Press [INSERT]
*5
Press [ENTER]
*6
O peration
Explanation
0003 M O V L V = 5 5 8
0004 C A L L J O B : T E S T
0005 MOVL V=138
P L A C E B E F O R E
W H E R E
R E F E R E N C E P O I N T
IS TO BE
R E G I S T E R E D
=> R E F P 1
=> R E F P 2
=> R E F P 1
> Ref-point_no.=