Used Robots.com: Motoman XRC Basic Programming

Created: 99-02-04   Revised: 99-07-15 Operato r’s manual MOTOMAN XRC Page: 87 Playback MOTOMAN ROBOTICS EUROPE n Limited speed operations The manipulator operates within the limited speed in the teach mode. The limited
speed is set at 250 mm/sec. Therefore, steps with speeds faster than 250 mm/
sec are restricted to this speed limit. Howeve r, operation is performed at actual playback speeds for steps under this limit. a)    Select “SPEED LIMIT” under the special play set displa y. The setting alternates between “ VALID” and “INVALID”. b)   Select “COMPLETE”.        Return to the playback displa    y.
c)    Press [S TART] on the playback panel. Set to “ VALID” and start the playback operation. The manipulator moves at
limited speed. n Dry run speed operations The dry run speed is a constant speed that is independent of the teaching
speeds. When the dry run operation is started, the manipulator executes all the
steps at a constant dry run speed. Dry run operation is convenient for quick check
of a job consisting of slow operations. The dry run speed is 10% of maximum
speed. Warning! Be careful of steps programmed at lower speeds than the dry run speed, because
they are executed at greater speeds than programmed. a)    Select the “DRY-RUN SPEED” under the special play set displa y. The setting alternates between “ VALID” and “INVALID”. b)   Select “COMPLETE”.        Return to the playback displa    y.
c)    Press [S TART] on the playback panel. Set to “ VALID” and start the playback operation. The manipulator moves at
dry-run speed. Safety speed Dry-run speed Playback speed Speed Step


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