1 Before starting use ........................................................................................................................................................................ 1-1
1.1 Using the instruction manuals ........................................................................................................................................... 1-1
1.2 Safety Precautions ................................................................................................................................................................ 1-3
2 Explanation of functions .................................................................................................................. 2-6
2.2.1 Operation rights ................................................................................................................ 2-10
(1) Screen tree ............................................................................................................................................................ 3-13
(3) Selecting a menu ............................................................................................................ 3-17
3.2 Jog Feed (Overview) ............................................................................................................... 3-19
3.2.1 Types of jog feed .............................................................................................................. 3-19
3.2.2 Speed of jog feed .............................................................................................................. 3-20
3.2.3 JOINT jog .......................................................................................................................... 3-20
3.2.4 TOOL jog .......................................................................................................................... 3-21
3.2.5 XYZ jog ............................................................................................................................. 3-21
3.2.6 3-axis XYZ jog .................................................................................................................. 3-22
3.2.7 CYLNDER jog ................................................................................................................... 3-22
3.2.8 Switching Tool Data .......................................................................................................... 3-23
3.4 Aligning the Hand .................................................................................................................... 3-27
3.5 Programming .......................................................................................................................... 3-29
3.5.1 Creating a program ........................................................................................................... 3-29
(2) Creating a program ........................................................................................................ 3-30
(4) Correcting a program ..................................................................................................... 3-33
3.6 Debugging ............................................................................................................................... 3-41
(1) Step feed ........................................................................................................................ 3-41
(2) Step return ...................................................................................................................... 3-42
(4) Step jump ....................................................................................................................... 3-44
3.7 Automatic operation ................................................................................................................ 3-46
(4) Stopping ......................................................................................................................... 3-48
(6) Resetting the program .................................................................................................... 3-49
3.9 Error reset operation ............................................................................................................... 3-51
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