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Table of Contents
vi TP1 Rev.5
Operation
1 Teaching Procedure 27
1.1 Jog Operation ........................................................................................... 27
1.2 Teaching ................................................................................................... 28
1.3 Direct Teaching......................................................................................... 29
2 TEACH Mode 31
2.1 [Jog & Teach]............................................................................................ 32
2.1.1 Specifying Point No. ..................................................................... 32
2.1.2 Specifying Jog Mode .................................................................... 32
2.1.3 Specifying Jog Speed................................................................... 33
2.1.4 Executing Step Jog ...................................................................... 33
2.1.5 Executing Continuous Jog............................................................ 33
2.1.6 ON/OFF........................................................................................ 33
2.1.7 Motor ON/OFF.............................................................................. 34
2.1.8 Executing Return to Home ........................................................... 34
2.1.9 Teaching....................................................................................... 34
2.1.10 Saving Point Data to File.............................................................. 35
2.1.11 Loading Point Data from File ........................................................ 35
2.2 Editing Points ............................................................................................ 36
2.2.1 Specifying Point No. ..................................................................... 36
2.2.2 Changing Point Label ................................................................... 36
2.2.3 Changing Coordinate Data and Pose Flag ................................... 36
2.2.4 Deleting Point Data ...................................................................... 36
2.3 Changing Jog Distance Data .................................................................... 37
2.3.1 Changing Distance Data............................................................... 37
2.3.2 Return Data to Defaults................................................................ 37
2.4 Arm/Tool/Local/ECP ................................................................................. 38
2.4.1 Changing Arm No......................................................................... 38
2.4.2 Changing Tool No. ....................................................................... 38
2.4.3 Changing Local No....................................................................... 38
2.4.4 Changing ECP No. ....................................................................... 38
2.5 Executing I/O Commands ......................................................................... 39
2.5.1 Switching Input/Output Status Display ......................................... 39
2.5.2 Output Bit ON/OFF....................................................................... 39
2.6 Executing Motion Commands ................................................................... 40
2.6.1 E2 Series / G Series..................................................................... 40
2.6.2 PS Series ..................................................................................... 40