6.2.2. Reference point editing

(1) Reference point recording (hidden pose method)

① Move the reference point by using the jog key to the location for the recording.

② Move the cursor to the location (the step immediately previous to the WEAVON command in general) where the reference point is to be recorded.

③ Record the reference point (entering the pose variable) by pressing [User key] → [REFP] key.

(2) Reference point recording (pose variable entering method)

① Record the reference point command by pressing the [Command input] → [Arc] → [REFP] key.

② Enter the reference point number according to the types of reference points.

③ Enter the pose variable that will be used as the reference point location.

(3) Reference point movement

Since the reference point is a location to decide the weaving type, the robot will not move to the reference point for general playback. However, execute the following procedure for confirming and changing the reference point location.

① Place the cursor on the reference point command.

② Move to the reference point after pressing the step forward key. .

At this moment, the type of interpolation should be linear line, and the conditions, such as moving speed, tools, and AC should be used as recorded in the weaving section start step.

(4) Reference point location edit (hidden pose method)

① Place the cursor on the reference point command.

② Move to the reference point location to change using Jog key.

③ The reference point location will be changed after pressing [SHIFT] + [POSE.MOD] key.

(5) Reference point command delete

① Place the cursor on the reference point command.

② The reference point command will be deleted after pressing [SHIFT] + [DEL] key.

(6) Reference point number change

① Place the cursor on the reference point command.

② Click [ENTER] key.

③ Enter new reference point number and press the [ENTER] key.

④ Change the reference point number by pressing the [ENTER] key again.

6.2.2. Reference point editing​

6.2.2. Reference point editing