Step Return - Mitsubishi Electric CR750-Q Instruction Manual

3Explanation of operation methods
Change of the execution step
The execution step can be changed by cursor movement by the arrow key, and jump operation ("JUMP").
Refer to Page 51, "(4) Step
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.
1) Execution of step return
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, release the enabling switch (3
position switch), or push in still more strongly, then the servo power off, 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.
[Supplement] If it does step return after carrying out the step feed of the following program to Step 4 and
step return is further done after returning to P1, it will return to the position at the time of the start which
did step feed.(The position at the time of the start is the position which began to execute Step 1.)
Program
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
:
:
3-48 Debugging
jump".
JUMP 123 BWD
Step return [F4]
Starting position
開始時の位置
50% <PROGRAM> 1
1 Mov P1
2 Mov P2
3 Mov P3
4 Mov P4
⇒
FWD
P2
P1 P2
P1
JUMP 123 BWD
P3
P3
50%
⇒
P4 P4