Path Confirmation & Playback

Prior to running a job in the PLAY mode with full playback speed, the job should be tested. The TEACH mode provides two methods to check positions and path interpolation.

The first method, using the FWD and BWD keys allows step-by-stepexecution at the Manual Speed setting. The second method, INTERLOCK + TEST START, simulates the Play mode with continuous operation.

Method 1: Confirmation by FWD and BWD Keys

Robot motion will be executed only while the FWD key (or BWD key) is pressed; releasing the key will stop robot motion. The Manual Speed selection [L, M, or H] is used.

To perform Position/Path confirmation with FWD key, perform the following steps:

  1. Cursor to the first step in the job and verify that there is a clear path to this command position from where the robot is currently positioned.
  2. Choose manual speed setting: (icons needed) Low Speed, Medium Speed, High Speed
  3. With Servos enabled, press and hold the FWD key. The robot will move to the step position and stop; the cursor will no longer be flashing.
  4. Release then press and hold the FWD key again to advance the cursor and move the robot through each successive step.

Method 2: Confirmation with Interlock and Test Start Keys

This method allows the robot to act as if it were in the Play mode, but with speed limitation. Also, some DEVICE instructions are prohibited. (HAND ON/OFF is not restricted.)

The cycle selection is active during the TEST START program execution, therefore the single CYCLE setting is recommended.

Motion steps recorded with speed tags greater than the limit, 25% of maximum, will be executed as follows:

MOVJ VJ = 25.00

MOVL V = 375.0 mm/sec (2250 cm/min, 886 in/min)

To use Interlock + Test Start method, perform the following steps:

  1. Touch EDIT, then TOP LINE to move the cursor to L: 0000 NOP.
  2. Verify the Cycle selection.
  3. Enable the Servos.
  4. While pressing the INTERLOCK key, press and hold the TEST START key. (The INTERLOCK key may be released once the robot is in motion.)

The START button on the pendant will light and the robot will move continuously through all the steps of the programmed path. Release the TEST START key or Servo Enable switch to interrupt/stop the program execution.

Cycle Selection

The three cycle selections are STEP, CYCLE, and AUTO. The current selection as indicated on the pendant Status Display Line, effects not only PLAY mode, but also TEACH using INTERLOCK + TEST START.

NOTE:Cycle selection is accessible from both TEACH or PLAY mode.

STEP

•The controller executes only the one line on which the cursor is located in selected job each time the START button is pressed. Some Device instructions are notexecuted.

CYCLE

•The controller executes the selected job one time from the cursor location to the END statement of that job when START button is pressed.

AUTO

• The controller executes the selected job repetitively beginning from the cursor location when the START button is pressed.

NOTE:The cycle setting may be changed at any time during PLAY mode. To stop at the END instruction of a job running in AUTO, change to the CYCLE setting.

To select the desired cycle, perform the following steps:

  1. From MAIN MENU choose JOB
  2. Choose CYCLE from the sub menu.
  3. With the cursor on WORK SELECT, press SELECT.
  4. Cursor to the desired Cycle, and press SELECT.

Playing A Job

Job selection can be performed in PLAY mode only if a job is not currently running. Cycle selection, however, can be changed at any time regardless of mode or status.

To play a job, perform the following steps:

  1. Select a job and verify where the cursor will begin the execution of the job.
  2. Switch from TEACH to PLAY using the Mode Selector Switch.
  3. Press the SERVO ON READY button.
  4. Choose AUTO, CYCLE, or STEP cycle selections. Verify the desired selection in the Status Display.
  5. Press the START button to initiate job execution.

NOTE:If a job is running in the AUTO cycle, select the CYCLE setting in order to stop execution at the END instruction of the job.