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6) Determine the teach point 2 with the same procedure as for point 1.
n
NOTE
The Z-direction shift value is automatically obtained when point 1 is determined,
so the Z-axis data at point 2 is ignored.
7) When point 2 has been entered, the shift coordinates (dX, dY, dZ and dR) are
automatically calculated and stored.
The screen then returns to "MANUAL>SHIFT" mode.
Valid keys and submenu descriptions in "MANUAL>SHIFT>METHOD2" mode are shown
below.
Valid keys
F4
F5
F8
F9
F10
Menu
Increases manual movement speed for the selected
VEL+
robot group in steps. (1→5→20→50→100%)
Decreases manual movement speed for the selected
VEL-
robot group in steps. (100→50→20→5→1%)
Switches between the current display units (mm or
UNITCHG
pulses).
Increases manual movement speed for the selected
VEL++
robot group in 1% increments.
Decreases manual movement speed for the selected
VEL--
robot group in 1% decrements.
11. "MANUAL" mode
Function
Chapter
4
4-129
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