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2.3.3. Manual Operation

2.3.3. Manual Operation​

 

Means all behaviors such as instructing work contents to Robot by using the Manual Jog key and checking work contents as instructed and the procedures are as follow:

 

(1)   Check whether there is a person within a safety fence or there are obstacles within operation scope of Robot.

 

(2)   Check that Title frame of teach pendant is manual mode. If AUTO mode, convert the [REMOTE/AUTO/MANUAL] switch of the teach pendant to [MANUAL] direction.

 

(3)   Select desired program by pressing the [Shift (FAST)]+[PROG/STEP] key. (1-9999)

 

 

Figure 2.21 Program selection window implemented

 

▶   Method to confirm program list

1: When the List show / Hide: [Program] is selected, a program list will appear as below.

 

 

Figure 2.22 Program selection window with a list displayed

 

2: The program selection window can also be displayed even when the [SHIFT [FAST] + [PROG/STEP] keys are pressed one more time.

3: All the files will be listed when selecting 『[F1]: Service』 → 『5: File manager』.

4: All the files can be also listed by using R code No. 17.

 

 

(4)   After you press the [Motor ON] button on the teach pendant, check the on/off condition of the [MOTOR ON] lamp. This operation is the preparation step to supply the servo power to the motor of each axis of the robot.

 

(5)   After you press the [ENABLE] switch on the rear side of the teach pendant, check the on/off condition of the [MOTOR ON] lamp. This operation will operate the MSPR and MSHP relay to release the motor brake and turn the servo on. That is, the robot can move now.

 

(6)   Operation to move the Robot is available depending on movement condition of speed level or coordinate system.

 

(7)   Press the [POS.MOD / REC] key at a position to memorize current position of Robot, then, the step will be recorded.

 

(8)   Record the function for the step by using the 『[F6]: Command Input』key.

 

(9)   Check working contents by using the [STEP FWD/BWD] key. Robot moves while the [STEP FWD/BWD] key is pressed. If Robot arrives at the target step, a 『.』as mark of completing performance is displayed in front of relevant commands.