Used Robots.com: Motoman XRC Basic Programming

Operato r’s manual MOTOMAN XRC Page: 136 Other editing MOTOMAN ROBOTICS EUROPE Created: 99-02-05   Revised: 99-07-15 n Modification by TRT (Traverse Time) Modifications made by TRT have the following characteristics: 4 By setting the time required to execute a move instruction (moving time) to a desired value, the speeds can be modified. 4 It is possible to measure the moving time without actually moving the manipulato r. For example, when the movement from lines 5 through 20 currently requires 34
seconds, and you want to reduce this to 15 seconds, this function is used. a)    Select {JOB} under the top menu.
b)   Select {JOB}.
c)    Move the cursor to the address area.
d)   Press [SHI FT] + [SELECT] in the move time measure start line. Specify the range as described in “Setting the Range” for Cut and Paste oper-
ation. e)    Select {EDIT} under the menu.
f) Select {TRT}.
The TRT display is shown. g)   Item setting operation . 1)    START NO. Displays the first line number of the section to be measured and modified. 2)    END NO. Displays the last line number of the section to be measured and modified. 3)    MOVING The moving time needed to move from the first number to last number is
measured and displayed. 4)    SET Set the desired moving time.
When [SELECT] is pressed when the cursor is on this item, the input buffer
line is displayed. Input the desired moving time and press [ENTER]. h)   Select “EXEC”. The speed is changed according to the setting. TRT START LINE NO.                    0001 END LINE NO.                        0002 MOVING TIME                               10.50 sec SETTING TIME                                7.00 sec !Turn on servo power EXEC CANCEL JOB EDIT DISPLAY UTILITY R1 S C L ƒ
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