Step Operation; Step Forward; Step Backward - Mitsubishi R56TB Instruction Manual

12.2. 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.
Push the [TEACH] switch (<a>) of T/B, confirm that the [TEACH] switch and the [TB ENABLE] lamps light, and
execute the step operation.
<a>
Perform the operations which moves the robot while pushing lightly on the enable switch of the T/B after the servo
has been turned on.
CAUTION
Take special care to the robot movements during operation. If any abnormality occurs,
such as interference with the peripheral devices, release the "+" key or enable switch,
or press the enable switch with force and stop the robot.
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 error, turn the servo ON, and start step operation.
* Release or forcibly push the "enable" switch.
The servo will turn OFF, and the moving robot will immediately stop. Error 2000 will
occur.
To resume operation, reset the error, lightly push the "enable" switch, press the
"SERVO" key to turn ON the servo, and then start step operation.
* Release the "+" key.
The step execution will be stopped. The servo will not turn OFF.
To resume operation, press the "+" key.
12.2.1.

Step forward

Push continually the sheet-key "+" key corresponding to the "STEP FORWD".
The program is run one line at a time in the forward direction. The program is run in line order from the head or the
designated line.
If the "+" button is released during this step, the running one line is stopped.
12.2.2.

Step Backward

Push continually the sheet-key "+" key corresponding to the "STEP BACKWD".
The line of a program that has been stopped with step forward 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 4 lines can be returned.
If the "+" button is released during this step, the running one line is stopped.
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<b>