Used Robots.com: Motoman XRC Basic Programming

Operato r’s manual MOTOMAN XRC Page: 20 Modes MOTOMAN ROBOTICS EUROPE Created: 99-02-02   Revised: 99-07-14 1.4.C Teach mode priority For safety reasons,   Teach mode always takes priority in mode switching opera-
tions. It is not possible to switch to other modes via the playback panel or external
input when TEACH LOCK is turned on.
The controller remembers which mode it was in when power was turned off so that
when power is turned back on, the controller is in the same mode.
However, if the mode has already been specified by the playback panel or the
external input when power is turned on, the mode when power was turned off is
not effective. 1.4.D Edit jobs and active jobs The XRC can call a job stored in the memory at any time in order to edit or exe-
cute the job.
Jobs set for editing are called “edit jobs.” The name of the edit job is displayed in
the status display in teach mode. Jobs set for execution are called “active jobs.”
The name of the active job is displayed in the status display area in play mode. When you change the operation mode, the current job changes according to the
mode.
For example: If an edit job is open in                                                                                Teach mode, it will become the active job
when the controller is switched to Play mode.
The job type can be changed by swiching modes in the following manner: Mode Operation              Local Mode
(Remote lamp is OFF)          Remote Mode
(Remote lamp is ON) Servo ON Playback Panel / Program-
ming Pendant External signal Start Playback Panel External signal Mode change Playback Panel External signal Cycle change Programming Pendant External signal Call master job Programming Pendant External signal Mode Current Job Teach mode Edit job Play mode Active job


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