Motoman XRC 2001, Руководство оператора

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6.3 Teaching Procedure
6-5
n
Step 4 -- Near Gripping Position (after gripping)
Define the waiting position after gripping.
9.
The input buffer line is displayed. Move the cursor to the right
to “T=1.00”, which shows the time.
Set to 0.5s with the number keys.
Press [ENTER]. The TIMER instruction is registered.
Press [INFORM LIST] again. And turn off the LED of the
INFORM LIST key.
1.
Move the manipulator near the gripping position with the axis
operation keys. It is necessary to choose a direction in which
the treatment device and the tools do not interfere when the
manipulator moves, and teach that position. (It is usually
located right above the grip position. The same positon as the
steps is also available.)
2.
Move the cursor to the line number and press [SELECT].
3.
The input buffer line is displayed. Move the cursor to the right
to “V=11.0”, which shows the speed.
Set to 100 mm/s with the number keys.
4.
Press [ENTER]. Step 4 is registered.
=> TIMER T= 0.50
9
6
3
-
7 8
4 5
1 2
0 .
E N T E R
IN F O R M
LIS T
=> M O V L V=11.0
S E L E C T
9
6
3
-
7 8
4 5
1 2
0 .
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
0 0 0 7 E N D
E N T E R