Used Robots.com: Motoman XRC Basic Programming

Created: 99-02-03   Revised: 99-07-14 Operato r’s manual MOTOMAN XRC Page: 55 Teaching MOTOMAN ROBOTICS EUROPE n Setting position level The position level is the degree of apporoximation of the manipulator to a taught
position.
The position level can be added to move instructions MOVJ (joint motion type)
and MOVL (linear motion type). If the position level is not set, the precision
depends on the operation speed. Setting an appropriate level moves the manipu-
lator in a path suitable to circumferential conditions and the workiece. If the posi-
tion level is not set, the precision depends on the operation speed. Setting an
appropriate level moves the manipulator in a path suitable to circumferential con-
ditions and the workpiece. The relationship between path and accuracy for posi-
tion levels is as shown belo   w. n Position level a)    Select move instruction (MOVJ or MOVL). The motion type is displayed in the input buffer line. When the motion type is
selected, the detailed edit display is shown. b)   Select the position level “UNUSED”. The selection dialog is displayed. => MOVL VJ= 50.00 Pos. level 1   Pos. level 2
Pos. level 3 Pos. level 4 Pos. level 0 Position levels Accuracy 0 Teaching Position 1
to 4 Fine | Rough DETAIL EDIT MOVJ
JOINT SPEED         VJ= 50.00
POS LEVEL             UNUSED
NWAIT                     UNUSED =>MOVJ VJ=50.00
! R1 S C L JOB EDIT DISPLAY UTILITY


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