42 A255 Robot Arm User Guide
99-04-23
Using the Teach Pendant
To use the teach pendant, follow these steps.
Before you begin, ensure that you:
• Connected the teach pendant.
• Have the teach pendant (stpv3) process running and have control at the teach
pendant. If not, at the terminal prompt, type pendant.
To move out of the shipping position:
1. The teach pendant displays the Application screen with the application’s name
(test). Turn on arm power.
2. The bottom line of the screen indicates the selections. Press F1 (edit). This
opens the Editing screen.
3. Press F3 (motion). This opens the Manual Motion screen. The upper right
corner displays the arm power status, “ON”. Since the robot is not homed, only
joint mode is available. Do NOT home the robot.
4. Squeeze the live-man switch.
• Adequate pressure, constantly applied, permits arm operation.
• No pressure, or excessive pressure, stops arm motion by shutting off arm
power. To restore arm power, turn on arm power at the arm power switch.
5. As you squeeze the live-man switch, press the following axis keys to move each
joint to a safe starting position. Move the joints until the arm links and tool
flange are safely away from the mounting surface, base, cabling, and any
elements in your workcell.
• Ax2+ to raise up the arm at the shoulder.
• Ax3+ to move out the outer link at the elbow.
• Ax4+ to raise up the wrist.
Note: Move each joint a little distance at a time to prevent robot damage. Notice
that some axes remain stationary.
Application
test
1edit 2run
Application
test
1var 3motn
Manual Menu
1% VEL JOINT
NOT HOMED
1home 3motn
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