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3Explanation of operation methods
◇◆◇ About step operation ◇◆◇
"Step operation" executes the program line by line. The operation speed is slow, and the robot stops after
each line, so the program and operation position can be confirmed.
During execution, the lamp on the controller's [START] switch will light. Execution of the End command or
the Hlt command will not step feed any more.
◇◆◇ Change of the execution step ◇◆◇
The execution step can be changed by cursor movement by the arrow key, and jump operation ("JUMP").
◇◆◇ Immediately stopping the robot during operation ◇◆◇
・ Press the [EMG.STOP] (emergency stop) switch.
The servo will turn OFF, and the moving robot will immediately stop.
To resume operation, reset the alarm, turn the servo ON, and start step operation.
・ Release or for cibly press the "enable" switch.
The servo will turn OFF, and the moving robot will immediately stop.
To resume operation, lightly press the "enable" switch, and start step operation.
・ Release the [F1] (FWD)key.
The step execution will be stopped. The servo will not turn OFF.
To resume operation, press the [F1] (FWD)key.
2) Step return
The line of a program that has been stopped with step feed or normal operation is returned one line at a
time and executed. This can be used only for the interpolation commands. Note that only up to four lines
can be returned.
If the function key corresponding to "BWD" is pressed, only while keeping pushing, only the one step will be
executed in the return direction of the step.
If the function key is released during this step, the robot will stop. And, detach the enabling switch (3
position switch), or push in still more strongly -- thing servo-off can be carried out and execution can be
stopped.
During execution, the lamp on the controller's [START] switch will light. If execution of the one step is
completed, LED of the [START] switch will go out and LED of the [STOP] switch will turn it on. The cursor
of the T/B screen moves to the step of the next interpolation command in the return direction of the step.
<PROGRAM> 1
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
FWD
Whenever it presses the function key corresponding to "BWD", it returns to the front step.
CAUTION
Ooperation of operating screen
3-59
JUMP
123
BWD
Take special care to the robot movements during automatic operation. If any
abnormality occurs, press the [EMG.STOP] switch and immediately stop the robot.
<PROGRAM> 1
50%
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
⇒
FWD
JUMP
123
BWD
50%
⇒
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