Used Robots.com: Motoman XRC General Application

Created: 99-02-16   Revised: 99-03-23 Operato r’s manual MOTOMAN XRC Page: 17 Operation method MOTOMAN ROBOTICS AB Example 1 REFP1 is registered because the wall direction is not parallel to the Z axis of the
robot coordinate. Example 2 REFP2 is registered because the approach point is at another side of the wall. 2.3.D Prohibiting weaving If the weaving instruction is registered during the “CHECK” operation in the play
mode or “TEST RUN” or [FWD] key operation in the teach mode, weaving is exe-
cuted as well as other move instructions. However, in some cases when weaving
is not wanted becase a workpiece collides,etc., follow the procedure below to pro-
hibit weaving. n Method to prohibit weaving during a “CHECK” operation a)    Press the AREA KEY on the PL    AYBACK display.
b)   Select {UTILITY}.
c)    Select {SPECIAL PL   AY}.
d)   Select “WE AV PROHIBIT IN CHK-RUN”. The special play display is shown. 0003 0005
0006 MOVL V=120
WVON WEV#(1)
REFP 1
MOVL V=50
WVOF REFP1 0004 0007 Wall direction Z-Axis Example 0010 0012
0013 MOVL V=120
WVON WEV#(1)
REFP 2
MOVL V=50
WVOF 0009   MOVJ VJ=25.00 REFP2 0011 0014 Example Approach point Wall Approach point


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