Basic operation
CONTENTS Page
Basic operation 1
1 Introduction..................................................................................................................... 3
2 Safety................................................................................................................................ 5
3 System Overview ............................................................................................................. 7
3.1 General.................................................................................................................... 7
3.2 The manipulator...................................................................................................... 8
3.3 The controller ......................................................................................................... 8
3.4 Operator’s panel ..................................................................................................... 9
3.5 Teach pendant......................................................................................................... 10
4 Starting the System ......................................................................................................... 15
5 Working with Windows .................................................................................................. 17
6 Jogging the Robot Using the Joystick............................................................................ 21
6.1 Linear jogging......................................................................................................... 21
6.2 Fine positioning ...................................................................................................... 23
7 Selecting a Program ........................................................................................................ 25
7.1 Using the training program..................................................................................... 25
8 Starting the Program ...................................................................................................... 31
9 Stopping the Program..................................................................................................... 35
10 Automatic Mode............................................................................................................ 37
11 Errors ............................................................................................................................. 39
12 Switching the System off............................................................................................... 41
13 Changing a Program..................................................................................................... 43
13.1 Modifying positions.............................................................................................. 43
13.2 Changing arguments ............................................................................................. 45
13.3 Adding instructions............................................................................................... 46
13.4 Programming a delay............................................................................................ 48
14 Storing the Program on Diskette ................................................................................. 51
14.1 Formatting a diskette ............................................................................................ 51
14.2 Storing on diskette ................................................................................................ 53
15 Printing Programs......................................................................................................... 57
15.1 Using a PC ............................................................................................................ 57
16 I/O Signals...................................................................................................................... 59
16.1 Programming an I/O instruction ........................................................................... 59
