Used Robots.com: Motoman XRC Basic Programming

Created: 99-02-03   Revised: 99-06-17 Operato r’s manual MOTOMAN XRC Page: 29 General operations MOTOMAN ROBOTICS EUROPE 2.2 General operations 2.2.A Selecting a coordinate system n Motion type key Select a coordinate using the following procedure:
Press [MOTION TYPE]. Each time this key is pressed, the coordinate is switched
in the following order:
Check the selection in the status area of the displa y. JointàRectangular(Cylinder)àToolàUser The selected coordinates can be set with the system. Refer to “Setting Chapters”
in the Operator’s Manual. 2.2.B Selecting manual speed Manual speed can be set to fast, medium, slow, or inching. In addition, high
speed is also possible using the [HIGH SPD]. The manual speed set is also effec-
tive for [FWD] / [BWD] operations in addition to the axis operations. Note! When the manipulator is operated with the programming pendant, the highest
speed of the   Tool Center Point is limited to 250 mm/sec. n Selecting with manual speed keys Press [FST] or [S  LW]. Each time [FST] is pressed, manual speed is changed in
the following orde  r. Confirm the speed in the status display area. Each time [FST] is pressed, the manual speed changes in the following order:
INCH, SLO W, MED, and FST. Each time [S LW] is pressed, the manual speed changes in the following order:
FST, MED, SLO W, and INCH. n Using the high speed key Pressing [HIGH SPD] while the axis keys are being held down makes the manip-
ulator operate at high speed. INCH    SLW    MED    FST FST    MED    SLW    INCH FST MAN SPEED SLW MAN SPEED


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