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6.3
This section describes how to position the robot using the HT1.
w
WARNING
thE RoBot WIll NoW MovE, So uSE CAutIoN.
On the main menu screen, select
1
"Operation".
The "Operation" menu screen appears
showing selectable menu items.
Move the cursor to "Run" and press
2
The "Run" screen opens showing a point
number and point data items.
"S=**%" in the status area indicates a speed
override for positioning operation. (Refer to
the "Controller Guide", Chapter 3, section 4,
"Parameter data".)
TIP
The displayed data items are the same as those
shown on the "Point edit" screen, but cannot be
edited here.
Specify the point number.
3
To specify the point number, use the same
procedure as for point data editing.
(Press
or press
menu.)
Specify the speed.
4
If you want to change the speed, press
to open the "Function" menu and specify the
speed as follows:
A
1. Select "Change speed" and press
2. Specify the speed and press
3. Press
A-28
Operating the robot
or
to specify the point number,
FUNC
to select it from the "Function"
The edit cursor then appears at the
speed value.
To specify the speed, use the same
procedure as for setting a point number.
The cursor then moves to "Yes" under the
"Change OK?" message.
to enable the setting.
The speed you specified is then displayed
as "S=** %" in the status area.
Step 2
Operation
Servo status
Origin search
Run
Reset
.
Current pos.
Run
P
1. Run type
2. Position
3. Speed
24A34-M0-00
4. Accel.
5. Decel.
6. Push
RUN:positioning start
Current pos.
Step 4
1.
Point teaching S=100%
P
1. Run
2. Position
3. Spee
4. Accel.
5. Decel.
6. Push
RUN:Teaching, -/+:JOG
FUNC
Current pos.
2.
.
Point teaching S=100%
P
1. Run
2. Position
3. Spee
.
4. Accel.
5. Decel.
6. Push
RUN:Teaching, -/+:JOG
Current pos.
3.
Run
P
1. Run type
2. Positio
3. Speed
24A35-M0-00
4. Accel.
5. Decel.
6. Push
RUN:positioning start
Current pos.
"Run" screen
[01]
NRM
128.00 mm
S=100%
NRM
[01]
1
ABS
-
185.00
mm
100
%
100
%
100
%
100
%
128.00 mm
Specifying operation speed
[01]
1
ABS
-
Function
Select number
100.00
mm
100
%
Change speed
100
%
Point list
100
%
100
%
50.00 mm
[01]
1
ABS
-
Change speed
100.00
mm
Speed
S =
100
%
100
%
100
%
Change OK?
100
%
Yes
%
No
100
50.00 mm
S=100%
NRM
[01]
1
ABS
-
Change Speed
100.00
mm
Speed
S = 80 %
100
%
100
%
Change OK?
100
%
Yes
No
100
%
128.00 mm
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