Motoman XRC 2001, Operator'S Manual

Page: 339 / 387

10.2 Registering Work Instructions
10-8
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Operation
*1
When the number key [-/SHORT OPEN] is pressed, the “STROKE GUN#(1) SHORT”
instruction is displayed, [3/FULL OPEN] is pressed, the “STROKE GUN#(1) LONG”
instruction is displayed in the input buffer line.
When [INSTRUCTION LIST] is pressed, the instruction list dialog will be displayed, so
select the [STROKE] instruction.
*2
The STROKE instruction is registered.
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Examples
Stroke is fully opened in order to avoid interference when the manipulator reaches the position
of step 5. Then the manipulator moves to step 6 to avoid interference.
10.2.4
STRWAIT Instruction
This is an instruction to verify the double stroke gun short open or full open status at any time
other than welding. Waits until a signal to verify full open or short open is turned ON.
This instruction can control only one gun at a time. Two guns cannot controlled at the same
time.
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Additional items
• • • • GUN# (X)
Specified a gun characteristic file number of which stroke is verified.
‚ ‚ ‚ ‚ LONG or SHORT
Specifies the stroke status to be verified by alternating LONG and SHORT.
In the job content display, move the cursor to the line before the place where the STROKE
instruction is to be registered. Press the number key [-/SHORT OPEN] or [3/FULL
OPEN] or [INSTRUCTION LIST]
*1
Additional item and number data modification
Press [ADD], then [ENTER]
*2
O peration
Explanation
=> S T R O K E GUN#(1) LONG
0005 M O V L V = 1000
0006 S T R O K E G U N #(1) LO N G
0007 M O V L V = 1000
S T R W A I T G U N S T R O K E
L O N G / S H O R T
• ‚
G U N N O .
GUN#(X)
X:1 to 8