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1
Table of Basic Instructions..................................6
1.1
Move Instructions......................................................................................6
1.2
I/O Instructions ..........................................................................................9
1.3
Control Instructions ................................................................................11
1.4
Shift Instructions .....................................................................................13
1.5
Operating Instructions ............................................................................14
2
Teaching ..............................................................22
2.1
Preparation for Teaching ........................................................................22
2.1.1
Checking Emergency Stop Buttons............................................................................... 22
2.1.2
Setting the Teach Lock.................................................................................................. 22
2.1.3
Registering a Job........................................................................................................... 22
2.1.4
Registering Jobs............................................................................................................ 23
2.1.5
Registering Comments .................................................................................................. 24
2.1.6
Registering Control Groups ........................................................................................... 24
2.1.7
Switching to the Teaching Window................................................................................ 24
2.2
Teaching Operation.................................................................................25
2.2.1
Teaching Window .......................................................................................................... 25
2.2.2
Interpolation Type and Play Speed ............................................................................... 26
2.2.3
Joint Interpolation .......................................................................................................... 26
2.2.4
Linear Interpolation........................................................................................................ 26
2.2.5
Circular Interpolation ..................................................................................................... 27
2.2.6
Spline Interpolation........................................................................................................ 29
2.2.7
Teaching Steps.............................................................................................................. 30
2.2.8
Overlapping the First and Last Steps ............................................................................ 40
2.3
Checking Steps........................................................................................40
2.3.1
FWD/BWD Key Operations ........................................................................................... 40
2.4
Modifying Steps.......................................................................................46
2.4.1
Displaying the JOB CONTENT Window for Editing....................................................... 49
2.4.2
Inserting Move Instructions............................................................................................ 50
2.4.3
Deleting Move Instructions ............................................................................................ 52
2.4.4
Modifying Move Instructions .......................................................................................... 53
2.4.5
Undo Operation ............................................................................................................. 54
2.4.6
Modifying Reference Point Instructions ......................................................................... 54
2.4.7
Modifying Timer Instructions.......................................................................................... 55
2.5
Modifying Jobs ........................................................................................56
2.5.1
Calling Up a Job ............................................................................................................ 56
2.5.2
Windows Related to Job................................................................................................ 56
2.5.3
JOB HEADER Window.................................................................................................. 57
2.5.4
JOB CONTENT Window ............................................................................................... 58
2.5.5
JOB CAPACITY Window............................................................................................... 59
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