3 Teaching
3.2 Teaching Operation
3-15
149235-1CD
RE-CSO-A031
Registering Reference Point Instructions
Reference point instructions (REFP) set an auxiliary point such as a wall point for weaving. Reference
point Nos. 1 to 8 are assigned for each application. Follow these procedures to register reference point
instructions.
Operation Explanation
1 Select {JOB} under the main
menu.
2Select {JOB}.
3 Move the cursor. Move the cursor to the line immediately before the position where
the reference point to be registered.
4 Grip the Enable switch. The servo power is turned ON.
5 Press the axis operation key. Move the manipulator to the position to be registered as the
reference point.
6 Press [REFP] or select
“REFP” from the inform list.
The reference point instruction is displayed in the input buffer line.
7 Change the reference point
number in one of the following
ways.
1: Move the cursor to the
reference point number, and
press [SHIFT] + the cursor
key to change the reference
point number; or
2: Press [SELECT] when the
cursor is on the reference
point number. Then, the
data input buffer line
appears. Input the number
and press [ENTER].
8 Press [INSERT]. The [INSERT] key lamp lights.
When registering before the END instruction, pressing [INSERT]
is not needed.
9 Press [ENTER]. The REFP instruction is registered.
The programming pendant does not have the [REFP] key for the application of spot
welding, general purposes (= material handling, assembling, cutting) or motor gun.
0003 MOVL V=558
0004 CALL JOB: TEST
0005 MOVL V=138
Place immediately
before where
reference point is
to be registered.
0003 MOVL V=558
0004 CALL JOB: TEST
0005 REFP 1
0006 MOVL V=138
Reference point
is registered.
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