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ERC BASIC

PROGRAMMING

QUICK REFERENCE

GUIDE

Revised 10/14/96

Part Number 131915-1

December 1, 1993

MOTO

MAN

805 Liberty Lane

West Carrollton, OH 45449

TEL: 937-847-6200 FAX: 937-847-6277

24-HOUR SERVICE HOTLINE: 937-847-3200

The information contained within this document is the proprietary

property of Motoman, Inc., and may not be copied, reproduced or

transmitted to other parties without the expressed written

authorization of Motoman, Inc.

MOTO

MAN

Содержание 131915-1

Страница 1: ...llton OH 45449 TEL 937 847 6200 FAX 937 847 6277 24 HOUR SERVICE HOTLINE 937 847 3200 The information contained within this document is the proprietary property of Motoman Inc and may not be copied reproduced or transmitted to other parties without the expressed written authorization of Motoman Inc 1999 by MOTOMAN All Rights Reserved ...

Страница 2: ... A Job PLAY CYCLE AUTO 1 CYCLE OR STEP START 1 Call the job to be played onto the screen 2 Press the PLAY key 3 Choose the desired cycle AUTO 1 CYCLE or STEP 4 Press the START button Calling Master Job To Screen TEACH MASTER JOB CALL PLAY START 1 Press the TEACH button 2 Press MASTER JOB 3 Press CALL 4 Press PLAY 5 Press START ...

Страница 3: ...B ABC ABC insert data EXIT ENTER 1 Press the TEACH button 2 Press NEW JOB 3 Press JOB 4 Press ABC ABC Character display appears 5 Place the cursor on the desired alphabet letter by using the CURSOR keys Press the ENTER key Move cursor to the next desired alphabet letter and press ENTER again Continue until spelling is complete 6 Press EXIT to end the character inputting Otherwise the job cannot be...

Страница 4: ... s station 3 Wait three seconds for the controller to acquire the encoder data 4 Press the START pushbutton on the operator s panel or operator s station Slow Speed PLAY SLOW SPEED START 1 Press PLAY 2 Press SLOW SPEED 3 Press START Check PLAY CHECK START 1 Press PLAY 2 Press CHECK 3 Press START To release check operation PLAY RELEASE 1 Press PLAY 2 Press RELEASE ...

Страница 5: ...erting Points move cursor move manipulator INSERT RECORD 1 Move the cursor to the position before the step to be inserted The new step will be inserted after the position of the cursor 2 Move the manipulator to the desired point 3 Press INSERT 4 Press RECORD Deleting Points ADDR move cursor DELETE RECORD 1 Press ADDR key 2 Move the cursor to the step to be deleted 3 Press DELETE 4 Press RECORD ...

Страница 6: ...e positioning level previously selected is displayed 4 Select the desired level by pressing ON or OFF 5 Press RECORD Modifying Motion Types cursor to step EDIT ALTER CHOOSE MOTION TYPE ENTER 1 At the operator s panel cursor to the step to be changed 2 Press the EDIT key 3 Press the soft key labeled ALTER 4 Choose motion type 5 Press ENTER ...

Страница 7: ...o be changed 2 Press EDIT 3 Press SPEED CHANGE 4 Choose the type of speed being changed 5 Input the desired speed from the DATA keys 6 Press ENTER 7 When no other step is to be changed press EXIT Removing Instructions cursor to instruction EDIT DELETE EXECUTE 1 Move cursor to the instruction to be removed 2 Press EDIT 3 Press DELETE 4 Press EXECUTE ...

Страница 8: ...INSERT 3 Press SEQUENCE 4 Press the right arrow soft key 5 Press CALL 6 Press JOB 7 Move cursor to job to be called 8 Press ENTER 9 Press ENTER Return EDIT INSERT SEQUENCE RET ENTER 1 Press EDIT 2 Press INSERT 3 Press SEQUENCE 4 Press the right arrow soft key 5 Press RET 6 Press ENTER ...

Страница 9: ...Press SEQUENCE 4 Press JUMP 5 Press LABEL 6 Press ABC 7 Insert name 8 Press ENTER The buffer will read JUMP XXXX 9 Press ENTER Label EDIT INSERT SEQUENCE LABEL ABC Name It EXIT ENTER 1 Press EDIT 2 Press INSERT 3 Press SEQUENCE 4 Press LABEL 5 Press ABC 6 Insert name 7 Press EXIT 8 Press ENTER ...

Страница 10: ...mment line 2 Press EDIT 3 Press INSERT 4 Press SEQUENCE 5 Press right arrow 6 Press COMMENT 7 Insert comment line using alphabet 8 Press ENTER Timer Input from ERC EDIT INSERT SEQUENCE TIMER insert amount of time ENTER 1 Press EDIT 2 Press INSERT 3 Press SEQUENCE 4 Press TIMER 5 Insert amount of time required 6 Press ENTER ...

Страница 11: ...DOUT 5 Press OT 6 Choose output 7 Press ENTER 8 Press ON OFF PULSE EDIT INSERT IN OUT PULSE enter device address to be pulsed ENTER TIME enter time to be pulsed ENTER 1 Press EDIT 2 Press INSERT 3 Press IN OUT 4 Press PULSE 5 Enter output to be pulsed 6 Press ENTER 7 Press TIME 8 Insert desired time 9 Press ENTER ...

Страница 12: ...11 WAIT EDIT INSERT IN OUT WAIT IN ON 1 or option of time ENTER 1 Press EDIT 2 Press INSERT 3 Press IN OUT 4 Press WAIT 5 Insert IN 6 Press ON 7 Press ENTER ...

Страница 13: ... the job to be deleted 6 Press ENTER 7 Press EXECUTE Job Copy TEACH OTHER JOB EDIT JOB COPY cursor to job ENTER ABC ABC CANCEL type new job name EXIT ENTER EXECUTE 1 Press TEACH 2 Press OTHER JOB 3 Press EDIT 4 Press JOB COPY 5 Move cursor to the job to be copied 6 Press ENTER 7 Press ABC ABC 8 Press CANCEL 9 Enter new job name 10 Press EXIT 11 Press ENTER ...

Страница 14: ...13 12 Press EXECUTE ...

Страница 15: ...he job to be saved 7 Press SELECT 8 Repeat Steps 6 and 7 for each job to be saved 9 Press EXECUTE Loading Jobs From Disk Onto The ERC OP1 FLOPPY cursor to JOBS LOAD ALL JOB or SELECT JOB EXECUTE 1 Press OP1 2 Press FLOPPY 3 Move cursor to JOBS 4 Press LOAD 5 If all the jobs on disk are to be loaded press ALL JOB 6 If only a few select jobs are to be loaded press the SELECT JOB key and follow ...

Страница 16: ...15 the same procedure as before saving select jobs 7 Press EXECUTE ...

Страница 17: ...FIED POINT 5 Press MOVE MODIFY 6 Enable the teach pendant SECOND HOME will be displayed and will be flashing 7 Press FWD until the robot stops moving and the message stops flashing 8 Locate alignment marks on each robot axis and verify alignment 9 If alignment is correct disable the teach pendant and return to the operator s panel 10 Press CHECK The CRT will display Completed to check specified po...

Страница 18: ...NOTES ...

Страница 19: ...NOTES ...

Страница 20: ...NOTES ...

Страница 21: ...NOTES ...

Страница 22: ...ected Jobs 13 C Call 7 Calling A Job 1 Calling Master Job To Screen 1 Check 3 Checking Specified Point 14 Commenting 9 D Delete A Job 12 Deleting Points 4 DOUT 10 E E Stop Recovery 3 I Inserting Points 4 J Job Copy 12 Jump 8 ...

Страница 23: ...L Label 8 Loading Jobs From Disk Onto The ERC 13 ...

Страница 24: ... Points 4 N Naming a Job Alphabetically 2 P Playing A Job 1 Position Level Specification 5 Pulse 10 R Registration Of Master Job 2 Removing Instructions 6 Return 7 S Slow Speed 3 Speed Correction From Operator s Panel 6 T Timer Input from ERC 9 ...

Страница 25: ...W Wait 11 ...

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