Motoman XRC 2001, Руководство оператора

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3.2 Teaching
3-4
3.2.2
Motion Type and Play Speed
Motion type
determines the path along which the manipulator moves between playback
steps.
Play speed
is the rate at which the manipulator moves.
Normally the three elements of
position data, motion type, and play speed
are reg-
istered for the robot axes steps at one time. If the motion type or play speed settings are omit-
ted during teaching, the data used from the previously taught step is automatically used.
n
Joint Motion Type
The joint motion type is used when the manipulator does not need to move
in a specific path toward the next step position (such as air cuts to and
from the workpiece).
When the joint motion type is used for teaching a robot axis, the
move instruction is
MOVJ
. For safety purposes, use the joint motion type to teach the first
step.
When [MOTION TYPE] is pressed, the move instruction on the input buffer line changes.
Play Speed Setting Display
• Speeds are indicated as percentages of the maximum rate.
• Setting “0:Speed Omit” sets the speed at previous determination.
*1 The joint speed moves up and down.
Instructions : These are instructions needed to process or perform an
operation. In the case of MOVE instructions, the instruc-
tion corresponding to the motion type is automatically
displayed at the time position is taught.
Additional items : Speed and time are set depending on the type of
instruction. Numerical or character data is added when
needed to the tags which set conditions.
Move the cursor to the play speed Press [SHIFT] + the cursor key simultaneously
*1
O peration
Explanation
= > M O V J V J = 0.78
Fast 100.00
50.00
25.00
12.50
6.25
3.12
1.56
Slow 0.78 (%)