Motoman XRC 2001, Operator'S Manual

Page: 185 / 387

4.2 Playback
4-10
4.2.3
Special Playback Operations
The following special operations can be performed during playback:
• Low Speed Operation
• Limited Speed Operation
• Dry Run Speed Operation
• Machine Lock Operation
• Check Operation
Two or more special operations can be performed at the same time. If multiple operations are
selected, the speed during playback is limited to the speed of the slowest of the operations.
Settings for special operations are done in the special play display.
When displaying the playback screen, move the cursor to the menu area and select {UTILITY}
à
{SETUP SPECIAL RUN}. The special play screen appears.
n
Low Speed Operation
The manipulator moves at low speed during the first step after starting. After the operation of
this step, the manipulator stops regardless of the selection of the operation cycle. Low speed
operation is canceled when the manipulator stops. Even if the manipulator is manually
stopped during low speed operation, the low speed is cancelled.
*1
The setting alternates between “VALID” and “INVALID” .
*2
Return to the playback display.
*3
Set to “VALID” and start the playback operation. Manipulator moves at a low speed for
the first step and stops. After this, press [START] on the playback panel to execute
each of the remaining steps. The manipulator moves at the speeds taught.
Select “LOW SPEED START” under the special play set display
*1
Select “COM-
PLETE”
*2
Press [START] on the playback panel
*3
S P E C I A L P L A Y
LOW SPEED START INVALID
SPEED LIMIT INVALID
DRY-RUN SPEED INVALID
MACHINE LOCK INVALID
CHECK-RUN INVALID
WEAV PROHIBIT IN CHK-RUN INVALID
!
R1
S C
L
J O B
E D I T D I S P L A Y UTILITY
COMPLETE
O peration
Explanation