Used Robots.com: Motoman XRC Basic Programming

Created: 99-02-05   Revised: 99-07-15 Operato r’s manual MOTOMAN XRC Page: 137 Other editing MOTOMAN ROBOTICS EUROPE Note! If a step has specific speed data and SPEED or ARCON instructions are present,
the speed data for those steps are not changed.
If the speed data is limited by the maximum value, the following message is dis-
played. 5.3.B Editing motion type a)    Select {JOB} under the top menu.
b)   Select {JOB}.
c)    Move the cursor to the address area.
d)   Select the line to be modified. The instruction on the cursor is displayed in the input buffer line. e)    Press [SHI FT] + the cursor key simultaneousl y. The motion type in the input buffer line changes.
The modification of the speed according to the modification of the motion type
is calculated by the ratio to maximum speed at each speed. Joint Speed: MAX=100.0%
Linear Speed: MAX=9000cm/min
(e.g.)
Joint Speed: 50% = Linear Speed: 4500cm/min
Linear Speed: 10% = Linear Speed: 900cm/min f) Press [ENTER].
The instruction on the cursor line is replaced with one on the input buffer line. ! Limited to maximum speed 0006 MOVJ VJ=50.00
0007 MOVJ VJ=50.00
=> MOVL V=4500 ! JOB CONTENT J:TEST     S:001            R1     TOOL:0
0001 NOP
0002 'CAR TYPE-A JOB
0003 JUMP JOB:JOB-01
0004 MOVJ VJ=50.00
0005 MOVJ VJ=50.00
0006 MOVJ VJ=50.00
0007 MOVJ VJ=50.00
=> MOVJ VJ=50.00
! JOB EDIT DISPLAY UTILITY R1 S C L


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