Motoman XRC 2001, Operator'S Manual

Page: 47 / 387

3.2 Teaching
3-15
Did the manipulator move exactly as you expected?
Proceed to the next section to change the position and speed of the job steps.
3.2.4
Correcting a Job
n
Before Correcting a Job
Confirm the manipulator’s motion in each step. If any position modification or adding or delet-
ing of steps is necessary, display the job content first with the following procedure.
2.
Change to medium speed by pressing [FST] or [SLW].
3.
Press [FWD] to confirm each step executed by the manipula-
tor. Each time [FWD] is pressed, the manipulator moves one
step.
4.
When you finish step confirmation, move the cursor to the
beginning of the job.
5.
Run all the steps continuously. Hold down [INTERLOCK] and
press [TEST START]. The manipulator plays back all the
steps continuously and stops when one cycle is finished.
• After the job is corrected, confirm the path.
1.
Select {JOB} under the top menu and {JOB} under the sub
menu.
Confirm that the teach lock is on.
J O B C O N T E N T
U T I L I T Y D I S P L A Y E D I T J O B
S C
R1
M
F S T
M A N S P D
S L W
F W D
I N T E R
L O C K
T E S T
S T A R T
+
C A U T I O N
J O B S E L E C T J O B
C R E A T E N E W J O B
OUT
IN
J O B
A R C W E L D I N G V A R I A B L E
I N / O U T
R O B O T
S Y S T E M I N F O
M A S T E R J O B
T O P
M E N U
S E L E C T
S E L E C T