iv
BASIC OPERATION
-Table of Contents-
1. Structure
1-1. Parts identification ..............................................1-1
1-2. Teaching Playback Method.................................1-1
2. How to use the teach pendant
2-1. Functions............................................................2-1
2-1-1. Jog dial and +/- key .....................................2-2
2-1-2. Window change key.....................................2-2
2-2. How to work on the screen.................................2-3
2-3. How to switch the external axes (option)............2-3
2-4. User function keys..............................................2-4
2-5. Menu icons.........................................................2-5
2-5-1. List of icons..................................................2-6
2-6. Input numerical values and characters.............2-10
2-6-1. Input numerical values...............................2-10
2-6-2. Input characters.........................................2-10
2-7. Memory check..................................................2-10
3. Get assistance while you work (Help)
3-1. How to get online Help .......................................3-1
3-2. What’s in the Help menu ....................................3-1
3-3. How to get the version information.....................3-1
4. TEACH mode
4-1. How operation procedures are explained...........4-1
4-2. Turn ON Servo Power ........................................4-2
4-3. User ID setting for the first time..........................4-2
4-4. Manual operation................................................4-3
4-5. Switch the coordinate system.............................4-4
4-5-1. Robot motion icons and robot movement ....4-4
4-6. Teach program programming procedure ............4-6
4-6-1. Robot movement data. ................................4-6
4-7. Create a new file ................................................4-7
4-8. Teach and save teaching points .........................4-7
4-8-1. Move commands for each interpolation.......4-8
4-8-2. Change speed .............................................4-8
4-8-3. Wrist calculation (CL number)......................4-8
4-9. Circular interpolation...........................................4-9
4-9-1. What is circular interpolation......................4-10
4-10. Teach weld section (Welding spec.) ...............4-11
4-10-1. Wire/inching Gas check...........................4-11
4-10-2. Teaching welding points and air-cut points4-11
4-10-3. Settings of condition of a teaching point ..4-12
4-10-4. Hold and Restart in welding operation .....4-12
4-10-5. Linear weaving interpolation ....................4-13
4-10-6. Circular weaving interpolation..................4-15
4-11. Trace operation...............................................4-16
4-11-1. Trace start/end.........................................4-16
4-11-2. Add teaching points..................................4-16
4-11-3. Change teaching points ...........................4-17
4-11-4. Delete teaching points..............................4-17
4-11-5. Robot position and icons..........................4-17
4-12. Trace motion after editing...............................4-18
4-13. I/O monitor......................................................4-19
4-14. Program test...................................................4-20
4-14-1. Procedures ..............................................4-20
4-14-2. Override in the Program test....................4-21
4-15. Advanced settings ..........................................4-22
4-15-1. Weld section shift.....................................4-22
4-15-2. Wire touch detection in teach...................4-23
4-15-3. Use of shift buffer data.............................4-23
4-15-4. Program Test ...........................................4-23
4-15-5. Trace settings ..........................................4-23
4-15-6. Weaving...................................................4-24
4-15-7. R-shift key and teach point settings.........4-25
4-15-8. Auto-edit of Arc start/end commands ...... 4-25
4-16. Edit files (Basic operation)............................. 4-26
4-16-1. Open a file .............................................. 4-26
4-16-2. Display a file on top of the screen........... 4-26
4-16-3. Add a sequence command ..................... 4-27
4-16-4. Change a sequence command............... 4-27
4-16-5. Delete a sequence command ................. 4-27
4-16-6. Setting welding conditions (Welding)
–“Auto-edit of arc start/end commands”........... 4-28
4-16-7. File sort................................................... 4-29
4-17. Save a file...................................................... 4-30
4-18. Close a file..................................................... 4-30
4-19. File transfer.................................................... 4-31
4-20. File properties................................................ 4-32
4-20-1. File properties ......................................... 4-32
4-20-2. Rename a file.......................................... 4-32
4-20-3. File protect.............................................. 4-33
4-21. Delete files..................................................... 4-34
5. AUTO mode
5-1. Start................................................................... 5-1
5-2. Hold and restart................................................. 5-2
5-3. Emergency stop and restart............................... 5-2
5-4. Limit condition of operation................................ 5-2
5-5. Program unit...................................................... 5-3
5-6. Cycle time.......................................................... 5-3
5-7. Override............................................................. 5-4
5-8. End of operation ................................................ 5-5
5-9. Advanced use of “AUTO” mode......................... 5-5
5-9-1. Offline programming ................................... 5-5
5-9-2. Program change in parallel processing....... 5-5
5-10. Welding data log.............................................. 5-6
6. Useful file edit functions
6-1. Cut..................................................................... 6-1
6-2. Copy.................................................................. 6-1
6-3. Paste ................................................................. 6-2
6-4. Find.................................................................... 6-2
6-5. Replace ............................................................. 6-3
6-6. Jump.................................................................. 6-3
6-7. Edit local variable .............................................. 6-4
6-8. Global data ........................................................ 6-5
6-9. Option................................................................ 6-6
6-9-1. Conversion.................................................. 6-6
6-9-2. Tool compensation...................................... 6-7
6-9-3. Global variable setting for TCP adjustment. 6-8
7. View
7-1. System list ......................................................... 7-1
7-2. Display change.................................................. 7-1
7-2-1. Position display........................................... 7-1
7-2-2. Torch angle ................................................. 7-2
7-2-3. User-IN/OUT............................................... 7-2
7-2-4. Status IN/OUT............................................. 7-2
7-2-5. Variable....................................................... 7-2
7-2-6. Display SHIFT-ON data .............................. 7-3
7-2-7. Load factor.................................................. 7-3
7-2-8. Accumulated time........................................ 7-3
7-2-9. Operate state.............................................. 7-4
7-3. Operation management..................................... 7-4
7-4. List of open files................................................. 7-5
7-5. Arc weld information .......................................... 7-6
8. Variable settings
8-1. Variables............................................................ 8-1
8-2. Global variable settings ..................................... 8-2
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