Motoman XRC 2001, Operator'S Manual

Page: 186 / 387

4.2 Playback
4-11
n
Limited Speed Operations
The manipulator operates within the limited speed in the teach mode. The limited speed is set
at 250 mm/sec. Therefore, steps with speeds faster than 250 mm/sec are restricted to this
speed limit. However, operation is performed at actual playback speeds for steps under this
limit.
*1
The setting alternates between “VALID” and “INVALID”.
*2
Return to the playback display.
*3
Set to “VALID” and start the playback operation. The manipulator moves at limited
speed.
n
Dry Run Speed Operations
The dry run speed is a constant speed that is independent of the teaching speeds. When the
dry run operation is started, the manipulator executes all the steps at a constant dry run
speed. Dry run operation is convenient for quick check of a job consisting of slow operations.
The dry run speed is 10% of maximum speed.
*1
The setting alternates between “VALID” and “INVALID”.
*2
Return to the playback display.
*3
Set to “VALID” and start the playback operation. The manipulator moves at dry-run
speed.
Select “SPEED LIMIT” under the special play set display
*1
Select “COMPLETE”
*2
Press [START] on the playback panel
*3
Be careful of steps programmed at lower speeds than the dry run speed, because they are
executed at greater speeds than programmed.
Select the “DRY-RUN SPEED” under the special play set display
*1
Select “COM-
PLETE”
*2
Press [START] on the playback panel
*3
O peration
Explanation
N OT E
O peration
Explanation