Motoman XRC 2001, Operator'S Manual

Page: 54 / 387

5.2 Teaching Procedure
5-2
5.2.2
Operation Method
n
Step 2 -- Near Welding Start Location
Define the pose of the welding torch.
n
Step 3 -- Welding Start Position
Move the welding torch to the welding start location with the pose as shown in Step 2, and
register the ARCON instruction.
• Step 1 and 6, which are both the waiting position, are adjusted to a safe position where
the robot does not collide with the workpiece and the fixture, etc.
• Ensure that the length of the wire is the same during teaching and playback. The appro-
priate wire length can be determined by using the inching procedure.
• When the manipulator comes in contact with the workpiece during the teaching proce-
dure, extend the wire 50-100mm and cut at an appropriate length.
• After teaching is completed, confirm the welding path with [FWD] and [BWD].
1.
Using the axis operation keys, specify the correct posture for
the manipulator to begin welding.
2.
Press [ENTER]. Step 2 is registered.
1.
Change to medium speed by pressing [FST] or [SLW] until
is displayed in the status area.
2.
Move the manipulator to the welding start position with the
axis operation keys. At this time, do not release the pose input
in Step 2.
3.
Move the cursor to the line number and press [SELECT].
N OT E
0 0 0 0 N O P
0001 MOVJ VJ=25.00
0002 MOVJ VJ=25.00
0 0 0 3 E N D
E N T E R
M
J O B C O N T E N T
UTILITY
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
=> M O V L VJ=50.00
S E L E C T