yasnac motoman robot manual.pdf

RE-CTO-A203

3.12 Shock Detection Function

Shock Detection Level File (1 to 7)

The shock detection level file number is specified here. The detection level value when playback operation is set in the file. The detection level is changed by the condition of the file set here.

SHCKRST instruction The shock detection level changed by the SHCKSET instruction is reset and returned to the detection level of the standard (value set in condition number 8) by the SHCKRST instruction. The additional item of the SHCKRST instruction is as follows.

SHCKRST R1 

Robot / Station Setting

The robot or the station axis which is desired to reset the shock detection level is specified here. If nothing is specified, the detection level of the control group of the job to which this instruction is registered is changed. However, if the job is coordinated job, the detection level of the slave axis group is changed.

Instruction Registration The instruction is registered when the cursor is in the address area in the job content display in teach mode. Operation

Select {JOB} under the top menu area

 Address Area

Select {JOB}

JOB EDIT DISPLAY JOB CONTENT R1 J:TEST S:003 R1 TOOL:00 0000 NOP 0001 'THIS JOB IS TEST JOB 0002 MOVJ VJ=50.00 0003 MOVJ VJ=12.50 0004 MOVL V=276 0005 TIMER T=1.00 0006 DOUT OT#(1) ON =>MOVJ VJ=100.00 !Turn on servo power 

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Move the cursole in the address

UTILITY L

C

S

Instruction Area