8.7.1
Understanding Basic Principles of Skill Commands
........................................................................... 146
8.7.2
Compliance Control and Contact Check
............................................................................................. 149
8.7.3
Skill Command Work Point Setting with Cockpit Buttons
.................................................................. 151
8.8
Execute Task Program .................................................................................. 152
8.8.1
Virtual mode screen
............................................................................................................................... 152
8.8.2
Real Mode Screen: End Effector Information tab
............................................................................... 154
8.8.3
Real Mode Screen: I/O Information Tab
.............................................................................................. 156
8.8.4
Execute Task
......................................................................................................................................... 158
9. Task Writer ............................................................................ 159
9.1
Task Management .......................................................................................... 159
9.1.1
Create New Task
................................................................................................................................... 159
9.1.2
Save Task
.............................................................................................................................................. 160
9.1.3
Save Task As
......................................................................................................................................... 161
9.1.4
Save Task on External Storage Device
............................................................................................... 162
9.1.5
Load Saved Tasks
................................................................................................................................ 163
9.1.6
Delete Saved Tasks
.............................................................................................................................. 164
9.1.7
Import Tasks on External Storage Devices
......................................................................................... 165
9.1.8
Export Task to External Storage Device
.............................................................................................. 166
9.2
Edit Task Program .......................................................................................... 167
9.3
Task Writer Command ................................................................................... 168
9.4
Setting and Applying Command Properties ............................................. 171
9.5
Execute Task Program .................................................................................. 172
9.6
Debug Screen .................................................................................................. 173
10. Monitoring and Testing ........................................................ 174
10.1
Screen Layout ................................................................................................. 174
10.2
I/O Status Check ............................................................................................. 176
10.2.1
Controller/Flange Digital Input Check
................................................................................................... 176
10.2.2
Controller Analog Input Check
.............................................................................................................. 177
10.2.3
Controller/Flange Digital Output Setting
............................................................................................... 178
10.2.4
Controller Analog Output Setting
.......................................................................................................... 179
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