1 Independent/Coordinated Control Function
1.3 Turning the Power Supply ON/OFF for Coordinated Control Systems
2 Coordinated Positioner System
2.4.1 Registering Group Combination
2.4.2 Calibration between Manipulator and Station
2.4.2.1 Calibration Tool Setting
2.4.2.2 Teaching Positions for Calibration
2.7 Selecting Axis to Be Handled
2.7.1 When There Is an Edit Job
2.7.2 When There Is No Edit Job
2.9 Registering Move Instruction (S)MOV ⃞+MOVJ
2.9.1 Operating Master Side (Station)
2.9.2 Operating Slave Side (Manipulator)
2.9.3 (S) MOV ⃞ + MOVJ Rate Specification
2.9.3.1 Rate Specification in a Multiple Line Shift Command
2.9.3.2 Rate Specification at Coordination Interpolation (SMOV ⃞ )
2.10 Registering Reference Point Instruction (SREFP)
3.3 Opening and Closing Handling Tool
3.5.1 Registering Group Combination
3.5.2 Calibration between Manipulators
3.5.2.1 Calibration Tool Setting
3.5.2.2 Teaching Position for Calibration
3.8 Selecting Axis to Be Handled
3.8.1 When There Is an Edit Job
3.8.2 When There Is No Edit Job
3.10 Registering Move Instruction (S)MOV ⃞+MOV⃞
3.10.1 Operating Master Side (Workpiece)
3.10.2 SMOV ⃞ + MOV ⃞ Rate Specification
3.10.2.1 Rate Specification in a Multiple Line Shift Command
3.10.2.2 Rate Specification at Coordination Interpolation (SMOV ⃞ )
3.10.3 Operating Slave Side (Torch)
3.11 Registering Reference Point Instruction (SREFP)
3.12 Registering Handling Instructions
3.13 Other Convenient Features
4 Station Twin Synchronous System
4.5.3 Items to Note When Using a TSYNC Command
4.5.3.1 When a Cursor Shift Occurs during Operation
4.5.3.2 If Three Jobs Were Set When the Number of TSYNC Synchronizations Was Set to “Unused”
4.8.1 Synchronized/Single Movement between Station and Manipulator
4.8.2 Job Synchronized Mode for Subtask 1 and 2
4.9 Selecting Axis to Be Handled
4.9.1 When There Is an Edit Job
4.9.2 When There Is No Edit Job
4.11 Registering Move Instruction (S)MOV ⃞+MOVJ
4.11.1 Operating Master Side (Station)
4.11.2 Operating Slave Side (Manipulator)
4.11.3 (S) MOV ⃞ + MOVJ Rate Specification
4.11.3.1 Rate Specification in a Multiple Line Shift Command
4.11.3.2 Rate Specification at Coordination Interpolation (SMOV ⃞ )
4.12 Registering Reference Point Instruction (SREFP)
4.14 Creating a Job in a Subtask - Method 1 and 2
4.14.1 Method 1: Copy One Subtask Job and Create Another Job
4.14.2 Teaching and Mirror Shift
4.14.2.3 Jobs Not to Be Converted
4.14.2.4 Group Axes for Conversion
4.14.2.5 Position Type Variables
4.14.3 Correcting Positional Dislocation
4.14.3.1 Setting the Items for Conversion
4.14.3.2 Setting the Shift Value
4.14.4 Method 2: Perform Teaching for Each Manipulator
4.16.2 Precautions for Confirming Operation
4.16.2.1 Stops during Operation
4.16.2.2 When “Multi-job operation mode” Is Set in the TEACHING CONDITION Window
4.16.2.3 If the Master Task Is Stopped by TSYNC
4.17.2 Automatic Correction of Shift Value
5.1.1 Method 1: Copy One Subtask Job to Create Two Other Subtask Jobs.
5.1.2 Method 2: Perform Teaching for Each Manipulator.
5.2.2 Press Tending, Cutting, and Other Applications
5.5.3 Items to Note When Using a TSYNC Command
5.5.3.1 When a Cursor Shift Occurs during Operation
5.8.1 Synchronized/Single Movement between Station and Manipulator
5.8.2 Job Synchronized Mode for Subtask 1, 2, and 3
5.9 Selecting Axis to Be Handled
5.9.1 When There Is an Edit Job
5.9.2 When There Is No Edit Job
5.11 Registering Move Instruction (S)MOV ⃞+MOVJ
5.11.1 Operating Master Side (Station)
5.11.2 Operating Slave Side (Manipulator)
5.11.3 (S) MOV V ⃞ + MOVJ Rate Specification
5.11.3.1 Rate Specification in a Multiple Line Shift Command
5.11.3.2 Rate Specification at Coordination Interpolation (SMOV ⃞ )
5.12 Registering Reference Point Instruction (SREFP)
5.14 Creating a Job in a Subtask - Method 1 and 2
5.15 Method 1: Copy One Subtask Job and Create Other Two Jobs
5.15.2 Teaching and Mirror Shift
5.15.2.2 Jobs Not to Be Converted
5.15.2.3 Group Axes for Conversion
5.15.2.4 Position Type Variables
5.15.3 Correcting Positional Dislocation
5.15.3.1 Setting the Items for Conversion
5.15.3.2 Setting the Shift Value
5.16 Method 2: Perform Teaching for Each Manipulator
5.16.2 Teaching Using Master Task
5.16.3 Teaching Using SUPERVISORY Window
5.18.2 Precautions for Confirming Operation
5.18.2.1 Stops during Operation
5.18.2.2 When “Multi-job operation mode” Is Set in the TEACHING CONDITION Window
5.19.2 Automatic Correction of Shift Value
6.3 Coordinated and Individual Interpolations
6.3.1 Coordinated Interpolation
6.3.2 Individual Interpolation
6.3.3 Changing Interpolation Mode
7.2.1 Starting a Job Always Fixed (Master Job)
7.3.1 Non-Synchronous Operation
7.5.1 Items to Note When Using a TSYNC Command
7.5.1.1 When a Cursor Shift Occurs during Operation
7.5.1.2 If Three Jobs Were Set When the Number of TSYNC Synchronizations Was Set to “Unused”
7.8.1 FWD/BWD Operation and Test Run
7.8.1.1 Confirming the Operation of the Task Being Displayed
7.8.1.2 Confirming the Operation of All Tasks
7.8.2 Switching Operating Method
7.8.2.1 Switching by [SHIFT]+[SMOV]
7.8.2.2 Switching on TEACHING CONDITION Window
7.8.3 BWD Operation of Concurrent Job
7.9.2.2 Canceling Registration
7.9.3.1 When the Master Job in the Master Task Is Called
7.9.3.2 When the Master Job in a Subtask 1/2/3 Is Called
7.9.4 Registration of Root (Startup) Job
7.9.4.2 Canceling Registration
7.9.5 Confirming Operating Status (SUPERVISORY Window)
7.9.6.3 Stopping and Restarting a Subtask Alone
8 Servo Power Supply Individual Control Function
8.2 Setting the Signals for Servo Power Supply Individual Control
8.3 Connection of Signals for Servo Power Supply Individual Control
8.5.1 Turning ON Only the Servo Power Supply for the Selected Control Group at Teaching
8.5.2 Turning OFF Only the Servo Power Supply for the Selected Control Group at Playback
8.6.1 Servo Power ON Status Signal for Each Control Group
8.6.2 “During Servo ON” Signal
8.7 Operation of Job without Control Group Specification
9 Robot Language (INFORM) Instructions
9.1 Coordinated Motion Instructions
9.2 Independent Control Instructions
10 CONVSFT Instruction (Coordinate System Conversion Instruction of the Shift Value)
11 The Linear Interpolation during the Axis Operation (Switching the Cartesian Coordinate)
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