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- 2 -
2.2
Basic things for step
....................................... 2 - 5
2.2.1 The parameter of STEP command line ........................ 2 - 5
2.2.1.1 Interpolation-locus from between step and step ............ 2 - 6
2.2.1.2 Pose ..................................................... 2 - 7
2.2.1.3 Speed .................................................... 2 - 8
2.2.1.4 Accuracy ................................................. 2 - 8
2.2.1.5 Tool number .............................................. 2 - 8
2.2.1.6 Output option ............................................ 2 - 8
2.2.1.7 Stop condition ............................................ 2 - 9
2.2.1.8 Stop state variable ...................................... 2 - 9
2.2.2 Step position validation/modification method .............. 2 - 10
2.2.2.1 Encoder coordinate system ................................ 2 - 10
2.2.2.2 Base/Robot coordinate system ............................ 2 - 11
2.1.4 Coordinate system ........................................ 2 - 13
2.3.1 JOG operation key ....................................... 2 - 13
2.3.2 Axis coordinate ......................................... 2 - 14
2.3.3 Robot coordinate ........................................ 2 - 15
2.3.4 User coordinate ......................................... 2 - 17
2.3.5 Tool coordinate ......................................... 2 - 18
2.4 Auto tool setting ........................................ 2 - 19
Chapter 3. Service menu
3.1 Monitoring .................................................... 3 - 4
3.2 Register ..................................................... 3 - 15
3.2.1 XYZ Shift register ................................... 3 - 16
3.2.2 Shift buffers ........................................ 3 - 18
3.2.3 On-line shift register Group.......................... 3 - 20
3.2.4 Palletizing register.................................. 3 - 22
3.2.5 Frequency condition register.......................... 3 - 25
3.2.6 Conveyor data ........................................ 3 - 26
3.3 Variable ...................................................... 3 - 28
3.4 Edit program .................................................. 3 - 29
3.4.1 Modify writing condition totally...................... 3 - 30
3.4.2 Modify speed in record totally........................ 3 - 31
3.4.3 Modify position in record totally..................... 3 - 32
3.4.4 Step copy ........................................... 3 - 34