Motoman XRC 2001, Operator'S Manual

Page: 68 / 387

6.3 Teaching Procedure
6-6
n
Step 6 -- Near Release Position (before releasing)
Define the pose of the release torch.
n
Step 7 -- Release Assistance Position
Define the assistance position for releasing.
1.
Specify the correct position with the axis operation keys for
the manipulator to begin releasing the workpiece. It is neces-
sary to choose a place in which the holding workpiece and the
piling up workpiece do not interfere when the manipulator
approaches the palette, and teach that position. (It is usually
located right above of the release assistance position.)
2.
Set the joint motion (MOVJ) 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 “VJ=0.78”, 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 25.00%.
5.
Press [ENTER]. Step 6 is registered.
1.
When moving directly from the position in Step 6 to the
release position, the workpiece which has already been piled
up and the holding workpiece interfere occasionally. The
release assistance position to conduct a detour operation is
taught at this time. The pose is set the same as Step 6.
2.
Set linear motion (MOVL) by pressing [MOTION TYPE].
= > M O V J VJ=0.78 M O T I O N
T Y P E
=> M O V J VJ=0.78
S E L E C T
=> M O V J VJ= 25.00
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 MOVL V=100.0
0004 HAND 1 ON
0005 TIMER T=0.50
0006 MOVL V=100.0
0007 MOVJ VJ=25.00
0008 MOVJ VJ=25.00
0 0 0 9 E N D
E N T E R
=> MOVL V=11.0 M O T I O N
T Y P E