Joint Robot Manipulator - Software Operation Manual
Advantech LNC Technology Co., Ltd.
3
10.1.4.
Extended instruction ...................................................................................... 36
10.1.5.
Editing columns ............................................................................................. 36
10.2.
Automatic mode .................................................................................................. 37
10.3.
Process of editing and running the program .......................................................... 38
10.3.1.
Creating or opening a file .............................................................................. 38
10.3.2.
"Record" continuous track and IO motion ..................................................... 38
10.3.3.
"Step", "Forward", "Back" function confirmation and correction track ........ 39
10.3.4.
Handwheel run test ........................................................................................ 39
10.3.5.
Operation observation of "Repeat" ................................................................ 40
11.
Introduction to program page instructions ............................................................................. 41
11.1.
Basic instructions ................................................................................................... 41
11.1.1.
Process Control .............................................................................................. 41
11.1.2.
Waiting type ................................................................................................... 43
11.1.3.
Status setting .................................................................................................. 44
11.1.4.
Motion command ........................................................................................... 45
11.1.5.
Function module calling ................................................................................ 48
11.2.
Extended instructions ............................................................................................ 50
12.
Use coordinate system to simplify programming and maintenance ...................................... 60
12.1.
Setting XYZABC directly ..................................................................................... 60
12.2.
World Record XYZ ................................................................................................ 60
12.3.
World record XYZABC ......................................................................................... 60
12.4.
Coordinate system record ...................................................................................... 61
12.5.
Current position and attitude ................................................................................. 61
12.6.
Dynamic position and attitude ............................................................................... 61
12.7.
Joint record ............................................................................................................ 62
12.8.
Setting the joint coordinates directly ..................................................................... 62
12.9.
Re-offset direct setting ........................................................................................... 62
12.10.
Re-offset dynamic setting ...................................................................................... 62
13.
List ......................................................................................................................................... 63
13.1.
Put the program into the list .................................................................................. 63
13.2.
Select to execute .................................................................................................... 64
13.3.
Appoint to execute ................................................................................................. 64
14.
Composition of Program Modularization .............................................................................. 66
14.1.
Calling program files ............................................................................................. 66
14.2.
Calling O files ........................................................................................................ 67
14.3.
Calling G files ........................................................................................................ 69
15.
NC Editing ............................................................................................................................. 71
15.1.
Types of files.......................................................................................................... 71
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