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8. Programming
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8 - 3
8.1 EDIT STEP
It is a Command to move manipulator of robot, and most fundamental Command.
The position of the end of tool, speed, interpolation etc shall be assigned.
8.1.1 Record of Step
There are two methods to store (adding MOVE command) steps.
Edition by using [MOVE] key.
At Edit frame, if [REC] key pressed the MOVE statement shall be added at next line, no
matter where the cursor located. In this case the location of step will be stored as current
position in a style of hidden pose(the factor which indicating position will not be shown).
For factors such as speed, accuracy, interpolation, the listed data on the current screen
of teach pendant will be selected basically, and it can be changed with proper factor.
The mode shall be changed to Edit mode in real time with recording.
Speed will be displayed at the right upper corner of frame.
Interpolation can be identified by the light of LED located under the [PF5] key.
Edition by using Command input from Menu
For adding steps, pose variables must be used with this method. For others .
same as using [MOVE] key.
8.1.2 Modification of Step
For step which is recorded by record key
- To modify position only, press [Enable], [Pos. Modify] keys.
- To modify others, change factors after press [Command Modify] key.
For [Command Input] PF keys used. - using pose variables.
- To modify position only, press [Enable], [Pos. Modify] keys.
- To modify others, change factors after press [Command Modify] key.
For modification position only
Press [Enable]+[Pos.Modify] keys at the same time while the cursor located on MOVE.
Then the hidden pose of that step will be changed as a current position of robot.
8.1.3 Delete of Step
Press [Enable]+[Delete] keys at the same time while the cursor located on the line for
deletion.