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1 Before starting use ........................................................................................................................................................................ 1-1
1.1 Using the instruction manuals ........................................................................................................................................... 1-1
1.1.1 The details of each instruction manuals .............................................................................................................. 1-1
1.1.2 Symbols used in instruction manual ....................................................................................................................... 1-1
1.2 Safety Precautions ................................................................................................................................................................ 1-3
1.2.1 Precautions given in the separate Safety Manual ............................................................................................ 1-4
2 Explanation of functions .................................................................................................................. 2-6
2.1 Operation panel (O/P) functions ............................................................................................... 2-6
2.2 Teaching pendant (T/B) functions ............................................................................................. 2-9
2.2.1 Operation rights ................................................................................................................ 2-10
2.3 Functions Related to Movement and Control .......................................................................... 2-11
3 Explanation of operation methods ................................................................................................ 3-13
3.1 Operation of the teaching pendant menu screens .................................................................. 3-13
(1) Screen tree 　 ............................................................................................................................................................ 3-13
(2) Input of the number/character ........................................................................................................................... 3-16
(3) Selecting a menu ............................................................................................................ 3-17
3.2 Jog Feed (Overview) ............................................................................................................... 3-19
3.2.1 Types of jog feed .............................................................................................................. 3-19
3.2.2 Speed of jog feed .............................................................................................................. 3-20
3.2.3 JOINT jog .......................................................................................................................... 3-20
3.2.4 TOOL jog .......................................................................................................................... 3-21
3.2.5 XYZ jog ............................................................................................................................. 3-21
3.2.6 3-axis XYZ jog .................................................................................................................. 3-22
3.2.7 CYLNDER jog ................................................................................................................... 3-22
3.2.8 Switching Tool Data .......................................................................................................... 3-23
3.2.9 Impact Detection during Jog Operation ............................................................................ 3-24
(1) Impact Detection Level Adjustment during Jog Operation ............................................. 3-25
3.3 Opening/Closing the Hands .................................................................................................... 3-26
3.4 Aligning the Hand .................................................................................................................... 3-27
3.5 Programming .......................................................................................................................... 3-29
3.5.1 Creating a program ........................................................................................................... 3-29
(1) Opening the program edit screen ................................................................................... 3-29
(2) Creating a program ........................................................................................................ 3-30
(3) Completion of program creation and saving programs .................................................. 3-32
(4) Correcting a program ..................................................................................................... 3-33
(5) Registering the current position data .............................................................................. 3-35
(6) Deletion of the position variable ......................................................................................................................... 3-38
(7) Confirming the position data (Position jump ) ................................................................. 3-39
(8) Correcting the MDI (Manual Data Input) ........................................................................ 3-40
3.6 Debugging ............................................................................................................................... 3-41
(1) Step feed ........................................................................................................................ 3-41
(2) Step return ...................................................................................................................... 3-42
(3) Step feed in another slot ................................................................................................ 3-43
(4) Step jump ....................................................................................................................... 3-44
3.7 Automatic operation ................................................................................................................ 3-46
(1) Setting the operation speed ........................................................................................... 3-46
(2) Selecting the program No. .............................................................................................. 3-46
(3) Starting automatic operation .......................................................................................... 3-47
(4) Stopping ......................................................................................................................... 3-48
(5) Resuming automatic operation from stopped state ........................................................ 3-48
(6) Resetting the program .................................................................................................... 3-49
3.8 Turning the servo ON/OFF ..................................................................................................... 3-50
3.9 Error reset operation ............................................................................................................... 3-51
3.10 Operation to Temporarily Reset an Error that Cannot Be Canceled ..................................... 3-51
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