Motoman XRC 2001, Руководство оператора

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6.4 Handling Test
6-9
n
Step 9 -- Near Release Position (after release)
Define the waiting positon.
6.4
Handling Test
6.4.1
Speed Limitation Drive
To confirm the taught path, the speed limitation drive is executed. All the operations operate
below the limitation speed in the teach mode (250mm/s usually) during speed limitation drive.
If the taught speed is below the limitation speed, the operation is executed at the same speed
as teaching.
1.
Move the manipulator nearthe release position with the axis
operation keys. It is necessary to choose a direction in which
the tools and workpiece do not interfere, and teach that posi-
tion. (It is usually located right above the release position.)
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 9 is registered.
1.
Press [PLAY] on the playback panel to turn on the play mode.
=> 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
0007 MOVJ VJ=25.00
0008 MOVJ VJ=25.00
0009 MOVL V=100.0
0010 MOVL V=50.0
0011 HAND 1 OFF
0012 TIMER T=0.50
0013 MOVL V=100.0
0 0 1 4 E N D
E N T E R
P L A Y