Used Robots.com: Motoman XRC Basic Programming

Created: 99-02-04   Revised: 99-07-15 Operato r’s manual MOTOMAN XRC Page: 95 Modifying play speed MOTOMAN ROBOTICS EUROPE Note!
4 Assuming that the manipulator moves from step 1 to step 2, the play speed of step 2 is not modified if the speed override is released before reaching step 2. 4 When the play speed is changed by speed override, the maximum and minimum speed is limited by the manipulato r. 4 When setting “MODIF  Y: ON”, the safety speed operation is performed at the same time. The manipulator operates at safety speed, however the play speed in
memory is modified as the setting using speed override. 4 Play speed set by the SPEED instruction is not modified. n Modifying speed override ratio a)    Select {UTILITY} under the Menu in the playback displa y. b)   Select {SPEED OVERRIDE}.
c)    Set the desired speed override ratio with the curso                                                                                                                 r.
Line up the cursor with the speed ratio and press [SHI                                                                                                                         FT] + the cursor key to
change the ratio.    To set the value directly, first select the speed ratio and the
value input status display will be shown. Use the number keys to input the
new ratio. If [CANCEL] is pressed, the modified ratio is released. n Releasing speed override settings a)    Select {UTILITY} under the Menu in the playback displa y. b)   Select {SPEED OVERRIDE}. The setting of the speed override ratio is released. If it’s released, the speed
ratio setting is not displayed on the playback displa y. The speed override settings are automatically released in the following cases:
When dry-run speed operation is set. 4 When the mode is changed to any mode other than the play mode.
4 When an alarm or error occurs.
4 When 1 CYCLE operation is completed using the END instruction.
4 When the power supply is turned off.


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