Motoman XRC 2001, Operator'S Manual

Page: 157 / 387

3.2 Teaching
3-14
*5
The [INSERT] key lamp lights.
Registering before the END instruction, [INSERT] is not needed.
*6
The REFP instruction is registered.
n
Registering Timer Instructions
The timer instruction stops the manipulator for a specified time. Follow the procedure below
to register timer instructions.
*1
Move the cursor to the line immediately before the position where the timer instruction
is to be registered.
*2
The TIMER instruction is displayed on the input buffer line.
*3
Move the cursor to the timer value and change it by pressing [SHIFT] +
the cursor key
.
The timer unit of adjustment is 0.01 minutes.
If you use the number keys to input the timer value, press [SELECT] when the cursor is
on the timer value. The data input line is displayed. Input the value and press [ENTER].
*4
The [INSERT] key lamp lights.
When registering before the END instruction, [INSERT] is not needed.
Select {JOB} under the top menu Select {JOB} Move the cursor to inserted
position
*1
Press [TIMER]
*2
Change the timer value
*3
Press [INSERT]
*4
Press [ENTER]
*5
0003 M O V L V = 5 5 8
0004 CALL JOB:TEST
0005 REEP 1
0006 MOVL V=138
R E F E R E N C E
POINT IS
R E G I S T E R E D
O peration
Explanation
0003 MOVJ VJ=50.00
0 0 0 4 M O V L V = 1 3 8
L I N E B E F O R E W H E R E
T I M E R I N S T R U C T I O N
IS TO BE REGISTERED
=> T I M E R T=1.00
=> T I M E R T = 2.00
=> TIMER T=1.00
> Time=2.00