Epson RC170 Guia do Utilizador descarregar pdf (Página 102)

5. The EPSON RC+ 5.0 GUI

84 EPSON RC+ 5.0 (Ver.5.4) User's Guide Rev.4

To jog

Select the jog mode: World, Tool, Local, Joint, or ECP.

Select the jog speed: Low or High.

Select

Continuous, Long, Medium, or Short jog distance. You can type in the desired

jog distance when Continuous is not selected.

Click on one of the jog buttons with the left mouse button. If you hold the mouse button

down, the robot will continue to jog.

When jogging is started, the jog button picture color will change from yellow to cyan.

After jogging is completed, the jog button picture color will change back to yellow.

If you click any jog button during a step jog, the robot will stop.

You can change the orientation of the jog buttons for the robot by selecting Preferences:

Robot Manager: Jogging from the Setup Menu. This will allow you to align your PC

monitor with the orientation of the robot.

Jogging in Teach Mode

You can jog and move the robot at slow speed with the safeguard open by using the Teach

Pendant. See the

Teach Pendant manual for instructions.

How to teach points

Teaching a robot point means that you are defining a location for the robot to move to

using the current robot position.

Follow these steps to teach points from the Robot Manager:

1. Select the point file you are teaching points for by using the

Point File dropdown list

box on the

Points page.

2. On the

Jog & Teach page, select the point number you want to teach in the Teach

Points

control group in the lower right corner of the window.

3. Jog the robot to the desired position or free some or all axes and manually move the

robot into position.

4. Click on the

Teach button. This will retrieve the robot's current position and store it in

the coordinates for the point. If the Prompt for New Point Data preference is active,

you will be prompted for a point label and description.

Point labels can include up to 32 alphanumeric characters and the underscore character.

Characters can be upper case or lower case. Only alphabets can be used for the first

letter.

5. As an alternative to clicking the

Teach button, on the Points tab you can type in the

coordinates of the point.

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