3-223.3Checking Steps
3.3.1 FWD/BWD Key Operations
Check whether the position of the taught steps is appropriate using [FWD]
or [BWD] on the programming pendant. Each time [FWD] or [BWD] is pressed, the manipulator moves by a single step.
[FWD]: Moves the manipulator ahead in step number sequence.
Only the move instruction is executed when [FWD] is pressed, but when [INTERLOCK] + [FWD] are pressed, all instructions are executed.
[BWD]: Moves the manipulator backward a step at a time in reverse step number sequence. Only the move instruction is executed.
1. Move the cursor to the step to be checked.
2. Press [FWD] or [BWD].
– The manipulator reaches the following / previous step and stops.
NOTE
For safety, set manual speed at or below.工控帮助教小舒QQ:2823408167
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3.3.1.1 Precautions When Using FWD / BWD Operations FWD Movements
• The manipulator moves in step number sequence. Only move instructions are executed when [FWD] is pressed. To execute all instructions, press [INTERLOCK] + [FWD].
• The manipulator stops after playing a single cycle. It does not move after the END instruction is reached, even if [FWD] is pressed. How-ever, at the end of a called job, the manipulator moves the instruction next to the CALL instruction.
BWD Movements
• The manipulator moves in reverse step number sequence. Only move instructions are executed.
• The manipulator does not move after the first step is reached, even if [BWD] is pressed. However, at the beginning of a called job, the manipulator moves to the instruction immediately before the CALL instruction.
Circular Movements with FWD/BWD Key Operations
• The manipulator moves in a straight line to the first step of the circu-lar interpolation.
• There must be three circular interpolation steps in a row to move the manipulator in an arc.
• If [FWD] or [BWD] operation is restarted after being stopped to move the cursor or to perform search, the manipulator moves in a straight line to the next step.
• If [FWD] or [BWD] operation is restarted after being stopped to move the axis as shown below, the manipulator moves in a straight line to P2, the next circular interpolation. Circular motion is restored from P2 to P3.
: Motion path for FWD/BWD key operation : Motion using axis keys
: Motion path during playback Moves with linear interpolation.
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Spline Curve Movements with FWD/BWD Operations
• The manipulator moves in a straight line to the first step of spline interpolation.
• There must be three spline curve motion steps in a row to perform a spline curve operation.
• Depending on the position where the [FWD] / [BWD] operation is performed, the alarm “IRREGULAR DISTANCES BETWEEN TEACHING POINTS” may occur.
• Note that FWD/BWD inching operations change the path of the manipulator and caution is therefore required. Performing these operations also increases the likelihood that the “IRREGULAR DISTANCES BETWEEN TEACHING POINTS” will occur.
• If the [FWD] or [BWD] operation is restarted after being stopped to move the cursor or perform a search, the manipulator moves in a straight line to the next step.
• If the [FWD] or [BWD] operation is restarted after being stopped to move the axis as shown below, the manipulator moves in a straight line to P2, the next spline curve motion step. Spline curve motion is restored from P2 onward. However, the path followed between P2 and P3 is somewhat different from the path followed at playback.
• If the manipulator is moved to P3 with [FWD], stopped, and then returned to P2 with [BWD], the path followed between P2 and P3 is different for each of the following: the first FWD operation, the BWD operation, and the consequent FWD operation.
P2
P1
P3 Linear motion
: Motion path for FWD/BWD key operation : Motion using axis keys
: Motion path during playback
P2
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3.3.1.2 Selecting Manual Speed
When [FWD] or [BWD] is pressed, the manipulator moves at the manual speed selected at that time. Selected manual speed can be checked by the manual speed indication on the programming pendant.
Manual speed is set with [FAST] and [SLOW]. FWD operation can be performed at a high speed by pressing [HIGH SPEED]. Follow these procedures to select a manual speed.
• Each time [FAST] is pressed, the speed switches in the order of
“INCH” ”SLOW” ”MED” ”FAST”.
INCH SLW MED FST
• Each time [SLOW] is pressed, the speed switches in the order of
“FAST” ”MED” ”SLOW” ”INCH”.
FST MED SLW INCH
NOTE
• FWD/BWD operation is performed with SLW speed even if INCH is selected.
• [HIGH SPEED] is available only for the FWD operation but not for BWD operation.
FAST
SLOW
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3.3.1.3 Moving to Reference Point
To check the position of a taught reference point, follow these procedures to move the manipulator to the reference point.
1. Move the cursor to the reference point instruction line to be checked.
2. Press [REFP] + [FWD].
– The manipulator moves to the reference point of the cursor line.
3.3.1.4 Test Operations
Playback operations can be simulated in the teach mode with test operations. This function is convenient for checking continuous paths and operation instructions.
Test operation differs in the following ways from actual playback in the play mode.
Note that the motion path for the playback operation is replayed during the test operation. Therefore, make sure that there is no obstacle around the manipulator and great caution should be exercised when the test
operation is performed.
SUPPLE-MENT
The programming pendant does not have the [REFP] key for the application of spot welding, general purposes (= material handling, assembling, cutting) or motor gun.
NOTE
• Operation speeds greater than the maximum teaching speed are reduced to the maximum teaching speed.
• Work instruction output, such as arc output, is not exe-cuted.
NOTE
There may be a slight difference between the motion path for the test operation and the motion path for the playback operation due to a mechanical error or control delay, etc.Motion Path for Test Operation
A
Motion Path for Test Operation
Motion Path for Playback Operation
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Test operation is performed by pressing [INTERLOCK] and [TEST START]. For safety purposes, these keys will only function while the keys are held down.
1. Select {JOB} under the main menu.
2. Press {JOB}.
– The test operation JOB CONTENT window appears.
3. Press [INTERLOCK] + [TEST START].
– The manipulator starts the test cycle operation.
– However, after the operation starts, the motion continues even if [INTERLOCK] is released.
– The manipulator moves only while these keys are held down.
– The manipulator stops immediately when [TEST START] is released.
3.3.1.5 Machine Lock Operation
When “MACHINE LOCK” is enabled, the [FWD] / [BWD] operation or the test operation can be performed to check the status of input and output without moving the manipulator.
1. Press [AREA].
2. Select {UTILITY}.
3. Select {SETUP SPECIAL RUN}.
– The SPECIAL TEACH window appears.
4. Select “MACHINE LOCK”.
– Press [SELECT] to switch “VALID” and “INVALID”.
NOTE
Always check safety conditions before pressing [ INTER-LOCK] + [TEST START] to start the manipulator in motion.NOTE
• The setting of “MACHINE LOCK” is maintained even after the mode is switched: If the machine lock is set to “VALID”
in the teach mode, it is still “VALID” after switching to the play mode.
The same applies when the mode is switched from the play mode to the teach mode.
• Note that the machine lock becomes “INVALID” if the fol-lowing operation is performed.
• Execution of “CANCEL ALL SELECT” in the SPECIAL PLAY window.
• Turning off the main power.
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DX100 3.4 Modifying Steps