Used Robots.com: Panasonic G Advanced Programming

iii CHAPTER.4 FUNCTIONS IN OPERATION MODE ................................ ................................................................ ........................................... 4-1 4-2 ENTERING INTO OPERATION MODE AUTOMATICALLY.....................................................................4-1
4-2 ENTERING INTO OPERATION MODE AFTER ORIGIN SEARCH............................................................4-2
4-3 USING SMOOTHING MOTION TO REDUCE TACT TIME..................................................................4-4
4-4 OPERATION WITHOUT MOVING ROBOT..........................................................................................4-6 4-5 OPERATION WITHOUT WELDING ( ) ...................................................................................4-7 4-6 OPERATION WITHOUT I/O PROCESS..............................................................................................4-8 4-7 I/O LOCK BY EXTERNAL INPUT ( ) ...........................................................................................4-9 4-8 CHANGING OPERATION UNIT......................................................................................................4-10
4-9 STARTING OPERATION FROM HALF-WAY......................................................................................4-11
4-10 CONTROLLING SPEED LIMIT BY EXTERNAL INPUT......................................................................4-12
4-11 CHANGING DISPLAY DATA.........................................................................................................4-13
4-12 CHANGING TEACHING POINT....................................................................................................4-14 4-13 TURNING ON THE TEACHING MODE OUTPUT WHEN TEACH ENABLE IS IN THE ON STATE............................................................4-15 4-14 EDIT DURING OPERATION.........................................................................................................4-16
4-15 USING EXTERNAL MEMORY DURING OPERATION.......................................................................4-17
4-16 OPERATION MODE OUTPUT.......................................................................................................4-18
4-17 FORCED END BY EXTERNAL INPUT............................................................................................4-19
4-18 OUTPUT WHEN ROBOT REACHES HOME POSITION...................................................................4-20
4-19 OUTPUT WHILE EXECUTING WAIT/DELAY COMMAND.............................................................4-21
4-20 INTERVAL OUTPUT...................................................................................................................4-22
4-21 SPECIFIC OUTPUT WHEN AN ERROR OCCURS.............................................................................4-23
4-22 FINISHING OPERATION MODE BY EXTERNAL INPUT...................................................................4-24 CHAPTER.5 PROGRAM CONVERSION FUNCTION................................ ................................................................ ................................... 5-1 5-2 RT SHIFT.....................................................................................................................................5-1
5-2 PARALLEL SHIFT..........................................................................................................................5-3
5-3 CYLINDRICAL SHIFT.....................................................................................................................5-6
5-4 TOOL SHIFT.................................................................................................................................5-8
5-5 SEAM SHIFT/ PATH SHIFT...........................................................................................................5-12
5-6 CONVERSION ERROR AND FILE RESTORATION..............................................................................5-15 CHAPTER.6 INTERFERENCE MONITORING FUNCTION ................................ ........................................................ 6-1 6-2 RT MOTION MONITORING.............................................................................................................6-1
6-2 CUBE MONITORING......................................................................................................................6-5 CHAPTER.7 USEFUL FUNCTIONS(1)................................ ................................................................ ......................................................... 7-1 7-2 TOOL ADJUSTMENT......................................................................................................................7-1
7-2 TOOL NO. MESSAGE.....................................................................................................................7-4 7-3 MANUAL TEACHING OF TOOL COORDINATE SYSTEM ( ) .............................................................7-5 7-4 JOGGING VALUE SETTING.............................................................................................................7-6
7-5 SPEED LIMIT SETTING..................................................................................................................7-7 7-6 ROBOT OPERATION WITHOUT USING “EXEC” OR “ROBOT OPR” KEY...............................................................7-8 7-7 CTRL KEY OPERATION WITHOUT USING ‘EXEC’ KEY ( )...........................................................7-9 7-8 TEACHING A HOME POSITION...................................................................................................7-10
7-9 FUNCTIONS IN TRACE OPERATION (SUCH AS SWITCHING SCREEN DISPLAY) ..................................7-11
7-10 MODE INTERLOCK...................................................................................................................7-12
7-11 RESUME..................................................................................................................................7-13


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