Motoman XRC 2001, Operator'S Manual

Page: 275 / 387

6.2 Parallel Shift Function
6-10
n
SFTON Instruction
This is the instruction that starts a parallel shift.
*1
*2
The instruction list dialog is displayed.
*3
The SFTON instruction is displayed in the input buffer line.
*4
If additional items are needed to edit continuously, perform the operation of 5* Editing
Additional Item”.
(Adding or Modifying Additional Items)
• When changing the position variable number, move the cursor to the position vari-
able number and press [SHIFT] + [CURSOR] to increase and decrease the value.
When using the number key, if [SELECT] is pressed, the input line is displayed.
Input using the number key and press [ENTER] to modify the number value in the
input buffer line.
• When inserting [SHIFT] + [COORD], move the cursor to the instruction at the top of
the input buffer line, press [SELECT], and the detail edit display is shown.
Move the cursor to the position before where the SFTON instruction is to be registered
*1
Press [INSTRUCTION LIST]
*2
Select [SHIFT] Select the SFTON instruc-
tion
*3
Modify the additional items, number values
*4
Press [INSERT] and then
[ENTER]
*5
O peration
Explanation
0020 M O V L V = 138
0021 M O V L V = 138
0022 M O V L V = 138
L in e im m e d ia te ly
b e fo re w h e re
S F T O N in s tru c tio n
is to b e re g is te re d
I N / O U T
C O N T R O L
D E V I C E
M O T I O N
A R I T H
S H I F T
..
S F T O N
S F T O F
M S H I F T
=> S F T O N P000
=> S F T O N P 0 0 0
> P=