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5.2 Teaching Procedure
5-3
n
Step 4 -- Welding End Condition
Specify the welding end position.
4.
The input buffer line is displayed. Move the cursor to the right
to VJ=*.**, which shows the speed. While pressing [SHIFT]
simultaneously, move the cursor
up and down (to higher
and lower play speeds) until the desired speed is specified.
Set the speed 12.50%.
5.
Press [ENTER]. Step 3 is registered.
6.
Press [ARCON]. ARCON is displayed in the input buffer line.
Press [ENTER]. The ARCON instruction is registered.
1.
Move the manipulator to the welding end position with the axis
operation keys. While the manipulator is moving, keep a wide
enough distance to ensure it will not strike the workpiece.
There is no need to follow the work line too closely.
2.
Set the motion type to linear motion type (MOVL) by pressing
[MOTION TYPE].
3.
Move the cursor to the line number and press [SELECT].
4.
The input buffer line is displayed. Move the cursor to the right
to V=66, which shows the speed.
Set to 50 cm/min with the number keys.
=> M O V J VJ=
12.50
S H I F T
0000 N O P
0001 MOVJ V J=25.00
0 0 0 2 M O V J V J =25.00
0003
MOVJ VJ=12.50
0 0 0 4 E N D
E N T E R
=>
A R C O N
8
A R C O N
E N T E R
= > M O V L V = 6 6
M O T I O N
T Y P E
=>
M O V L
V=66
S E L E C T
9
6
3
-
7
8
4
5
1
2
0
.
Summary of Contents for XRC 2001
Page 4: ...XRC Operator s Manual for Spot Welding ii MOTOMAN NOTES ...
Page 22: ...x ...
Page 25: ...1 3 Programming Pendant 1 3 1 3 Programming Pendant Programming Pendant ...
Page 32: ...2 2 Turning on the Servo Power 2 4 ...
Page 34: ...3 1 Manipulator Motion 3 2 ...
Page 52: ...4 2 Playback 4 2 ...
Page 62: ...5 4 Welding Test 5 10 ...
Page 78: ...7 3 Cutting Test 7 6 ...
Page 84: ...8 4 Welding Test 8 6 ...
Page 86: ...9 2 Turning the Main Power Off 9 2 ...
Page 87: ......
Page 103: ...xvi ...
Page 125: ...1 5 About the Security Mode 1 22 ...
Page 209: ...4 6 Displaying Job Stack 4 34 ...
Page 299: ...6 5 Mirror Shift Function 6 34 ...
Page 329: ...8 2 ...
Page 331: ...9 2 ...
Page 341: ...10 2 Registering Work Instructions 10 10 ...
Page 349: ...11 3 Spot Gun Condition Data File 11 8 ...
Page 373: ...14 5 Spot Welding Specific Signal Allocation List 14 12 ...
Page 375: ...15 1 Table of Work Instructions 15 2 ...
Page 385: ...11 10 ...
Page 386: ......