4-1
4-1-1
4-1-2
4-2
Basic Key Operation .............................................................................................................. 4-4
4-3
Reading the Screen ................................................................................................................ 4-5
4-3-1
4-3-2
4-3-3
4-3-4
4-4
4-5
4-5-1
4-5-2
PARAMETERS ....................................................................................................... 5-1
5-1
Setting the Parameters ........................................................................................................... 5-2
5-2
Parameter Description ........................................................................................................... 5-3
PROGRAMMING ................................................................................................. 6-1
6-1
Basic Contents ....................................................................................................................... 6-2
6-1-1
6-1-2
6-1-3
6-2
Editing Programs .................................................................................................................... 6-3
6-2-1
6-2-2
6-2-3
6-2-4
6-2-5
6-2-6
6-3
Program Utility .................................................................................................................... 6-12
6-3-1
6-3-2
6-3-3
EDITING POINT DATA ........................................................................................ 7-1
7-1
Manual Data Input ................................................................................................................. 7-2
7-2
Teaching Playback .................................................................................................................. 7-3
7-3
Direct Teaching ...................................................................................................................... 7-5
7-4
7-5
7-6
Deleting Point Data ............................................................................................................... 7-9
7-7
ROBOT LANGUAGE ............................................................................................ 8-1
8-1
Robot Language Table ............................................................................................................ 8-2
8-2
8-2-1
8-2-2
8-3
Program Function .................................................................................................................. 8-5
8-3-1
ii
Program execution screen ............................................................................................................................. 4-5
Program edit screen ....................................................................................................................................... 4-5
DIO monitor screen ...................................................................................................................................... 4-6
Explanation of access level ............................................................................................................................ 4-8
Changing an access level ............................................................................................................................... 4-9
Robot language and point data ...................................................................................................................... 6-2
Program specifications .................................................................................................................................. 6-2
Creating a new program ................................................................................................................................ 6-6
Adding a step ................................................................................................................................................. 6-7
Correcting a step ........................................................................................................................................... 6-9
Inserting a step ............................................................................................................................................ 6-10
Deleting a step ............................................................................................................................................ 6-11
Copying a program ...................................................................................................................................... 6-12
Deleting a program ...................................................................................................................................... 6-13
Command statement format .......................................................................................................................... 8-3
Variables ........................................................................................................................................................ 8-4
Multi-task function ........................................................................................................................................ 8-5