Motoman XRC 2001, Operator'S Manual

Page: 159 / 387

3.2 Teaching
3-16
*4
The [INSERT] key lamp lights. When registering before the END instruction, [INSERT]
is not needed.
*5
The TIMER instruction is registered.
3.2.4
Overlapping the First and Last Steps
*1
Move the cursor to the first step.
*2
The cursor starts blinking. When the cursor line position and the manipulator position
are different in the job content display, the cursor blinks.
*3
The key lamp lights.
*4
The position data for the first step is registered on the line of the last step. At this time,
only the position data can be changed in the last step. Motion type and play speed do
not change.
Why is overlapping the first and last step necessary?
Assume that the job shown below is to be repeated. The manipulator moves from the last
step (Step 6) to the first step (Step 1). If Step 6 and Step 1 are the same position, the
manipulator moves directly Step 5 to Step 1, thereby improving work efficiency.
Move the cursor to the first step line Press [FWD]
*1
Move the cursor to the last
step line
*2
Press [MODIFY]
*3
Press [ENTER]
*4
0003 M O V J V J = 5 0 . 0 0
0004 TIMER T=I003
0005 MOVL V=138
T I M E R I N S T R U C T I O N
R E G I S T E R E D
S U P P L E -
M E N T
O peration
Explanation