Motoman XRC 2001, Operator'S Manual

Page: 44 / 387

3.2 Teaching
3-12
n
Step 5 -- Position Away From Workpiece and Fixture
Move the manipulator to a position where it will not strike the workpiece or fixture.
5.
Press [ENTER]. Step 4 (Line 0004) is registered.
1.
Change the speed to high speed by pressing [FST] or [SLW].
This button only affects teaching speed. When the job is played, the job will execute at the speed
defined in Step 4.
2.
Move the manipulator with the axis operation keys to a posi-
tion where it will not strike the fixture.
3.
Press [MOTION TYPE] to set to the joint motion type (MOVJ).
4.
Move the cursor to line number 0004 and press [SELECT].
0000 N O P
0 0 0 1 M O V J VJ = 5 0 . 0 0
0 0 0 2 M O V J V J =50.00
0 0 0 3 M O V J V J = 1 2 . 5 0
0 0 0 4 M O V L V = 1 3 8
0 0 0 5 E N D
E N T E R
JOB CONTENT
UTILITY
DISPLAY
EDIT JOB
S
C
R1
H
F S T
M A N S P E E D
N OT E
=> MOVJ VJ=12.50
M O T I O N
T Y P E
=> M O V J VJ=12.50
S E L E C T