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T202001004
9.4 Playback
9.4.1 Preparation
Before performing playback operations, confirm that the program to be executed is correct
and that there are no person or obstacles present in the work envelope of the manipulator.
9.4.1.1 Selecting Programs
Playback is the act of executing a taught program.
Before playback operation, first select the program to be executed in the program list, and
press [OPEN] in the submenu area to open the program. Then move the cursor to the starting line
where the program is executed. Generally, the program is executed from the NOP line.
9.4.1.2 Selecting Operation Cycles
Switch to PLAY mode, press the icon in the status control area to select one of three types
of manipulator operation cycles:
SINGLE STEP: Executes one step (instruction) at a time.
SINGLE CYCLE: Executes a program once. The program will be executed again if
[PROGRAM START] button is pressed.
CONTINUOUS CYCLE: Repeats a program continuously.
Please select the appropriate one according to your requirements.
9.4.1.3 Modifying Play Speed
The TEACH mode and PLAY mode use different speed values. After switching to PLAY
mode, the speed can be modified to an appropriate level by following the instructions shown in
Section 9.2.1.
9.4.2 Playback Operation
9.4.2.1 Startup
After completing all above preparations, first press [SERVO ENABLE] button
on
the bottom right corner of the programming pendant. The SERVO ON lamp lights up when the
