Used Robots.com: Motoman XRC Basic Programming

Created: 99-02-05   Revised: 99-07-15 Operato r’s manual MOTOMAN XRC Page: 147 Other editing MOTOMAN ROBOTICS EUROPE n Setting position variables using the axis keys Pulse type a)    Select { VARIABLE} under the top menu.
b)   Select desired position variable type.
c)    Press [SHI FT] + [ROBOT] . When you need an external axis position, press [SHI                                                                                                                FT]+[EX.AXIS].
When there are two or more robot axis, base axis, or a station axis, specify
the axis with following operation. (Robot Axis) 4 Each time [SHI FT] + [ROBOT] is pressed, the axis displayed on the status line changes:
R1 à R2 à R3. (Base or Station Axis) 4 Each time [SHI FT]+[EX.AXIS] is pressed, the axis displayed on the status line changes:
B1à B2 à B3 à S1 à S2 à S3 à S4 à S5 à S6 d)   Move the manipulator with the axis ke y. Move the manipulator or the external axis to the desired position to be set to
position variable. e)    Press [MODIFY].
f) Press [ENTER] XYZ type a)    Select { VARIABLE} under the top menu.
b)   Select desired position variable type. Move the manipulator to the desired position to be set to position variable. c)    Move the manipulator with the axis ke                                                                                 y.
Move the manipulator or the external axis to the desired position to be set to
position variable. d)   Press [MODIFY].
e)    Press [ENTER]. n Deleting data set of position variables a)    Select { VARIABLE} under the top menu.
b)   Select desired position variable type.
c)    Select {D ATA} under the menu. The pulldown menu is displayed.


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