Motoman XRC 2001, Руководство оператора

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3.2 Teaching
3-8
Play Speed
The play speed set display is identical to that for the linear motion type.
As with the circular motion type, the speed taught at P2 is applied from P1 to P2, and the
speed taught at P3 is applied from P2 to P3.
3.2.3
Teaching Steps
n
Registering Move Instructions
Whenever one step is taught, one move instruction is registered. There are two ways to teach
a step. Steps can be taught in sequence as shown in " Fig. Registering Move Instructions ",
or they can be done by inserting steps between already registered steps, as shown in " Fig.
Inserting Move Instructions ". This paragraph explains the teaching of " Fig. Registering
Move Instructions ", the operations involved in registering new steps.
Teaching of " Fig. Inserting Move Instructions " is called “Inserting move instruction,” to distin-
guish it from the method shown in " Fig. Registering Move Instructions ". For more details on
this operation, see " 3.4.2 Inserting Move Instructions ". The basic operations for registration
and insertion are the same. The only difference is pressing [INSERT] in the case of insertion.
For registration, the instruction is always registered before the END instruction. Therefore, it
is not necessary to press [INSERT]. For insertion (" Fig. Inserting Move Instructions "),
[INSERT] must be pressed.
Teach points so that the distances between the three points are roughly equal. If there is
any significant difference, an error will occur on playback and the manipulator may operate
in an unexpected, dangerous manner. Ensure that the ratio of distances between steps
m:n is within the range of 0.25 to 0.75mm.
Registering Move Instructions Inserting Move Instructions
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