- Page 1 and 2: ROBOTVertical articulatedV* SERIESH
- Page 3 and 4: PrefaceThank you for purchasing thi
- Page 5 and 6: ContentsChapter 1 Operating Devices
- Page 7 and 8: Chapter 5 Commands Assigned to Func
- Page 9: Chapter 1Operating Devices(TP/MP)Th
- Page 12 and 13: 1.1.2 Connecting the Mini-PendantCo
- Page 14 and 15: 1.2.2 Names of Keys, Buttons, and S
- Page 16 and 17: 1.2.3 Basic Operation of the Teach
- Page 18 and 19: SHORTCUT buttonThe use of a shortcu
- Page 20 and 21: 1-10Top Screen of the Mini-Pendant
- Page 23 and 24: Chapter 2 Preparations for Teaching
- Page 25: Chapter 2 Preparations for Teaching
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- Page 31 and 32: Chapter 2 Preparations for Teaching
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- Page 43 and 44: Step 3 Check the inching values and
- Page 45 and 46: Chapter 2 Preparations for Teaching
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Chapter 2 Preparations for Teaching
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Chapter 3GeneralIntroduction toOper
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3.1.1 Switching Between Operation M
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3.2 Manual Mode (TP/MP)In Manual mo
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[ 3 ] Tool modeTool mode allows you
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[ 2 ] X-Y modeThe figure below show
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Operating procedureCAUTION: At the
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Table 3-1. Arm Traverse Keys and Dr
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Table 3-2. Arm Traverse Keys and Dr
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Step 3 Display a target I/O signal,
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3.2.3 Using the Command Builder (TP
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Step 6 In the Category Selection wi
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Step 8 If the selected command has
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Command BuilderOperating flow of co
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Category selection screenOn the cat
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[Ins][Replce]Inserts a newly entere
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3.2.4 Easy Teaching (TP)Easy teachi
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Step 5Move the cursor to a line imm
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3.2.4.2 Editing a Motion CommandWha
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Step 6Use the alphanumeric key scre
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"Single-step run": Runs a single st
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In the case of [
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SymbolsO: Operable & editableOP: Op
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3.2.4.5 Notes for Easy Teaching(1)
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• Enhanced function keys in Manua
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[Config.]Pressing this command butt
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3.2.5.2 Folders Displayed on Mini-P
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[ 1 ] Cycle checkTo monitor the pro
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[ 2 ] Step checkTo monitor the prog
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[ 3 ] Step Back FunctionThis functi
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NOTE 2: About Skipping InterruptSki
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Step 4While holding down the deadma
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Selecting Commands To Be Executed D
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Executing by Specifying an Arbitrar
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3.4 Auto Mode (TP/MP)In Auto mode,
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Step 3 Select the task program you
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[ 2 ] Continuous runBefore proceedi
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Step 6 In the system message dialog
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Step 3 Select the task program you
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3.4.2 Stopping Internal Automatic O
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[ 1 ] Cycle Stop (TP/MP)Cycle stop
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[ 3 ] Halt (Stop) (TP/MP)Operating
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3.4.3 Switching to External Automat
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3.4.4 Stopping External Automatic O
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3.4.5.1 Parameters for the Continue
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3.4.5.2 "Continue start" operating
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3.4.5.4 Resetting programs• From
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3.4.6 SS (Safe Start) FunctionIn au
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PRO1 PRO2 PRO3TAKEARMMOVEIn this fi
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• Setting procedure of SS functio
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[ 4 ] Setting time and speedYou may
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Setting the TS period(1) Follow ste
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By typing the commands in programsT
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[ 5 ] Dedicated output in SS functi
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Restarting after BP stopRestart the
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Step 5 Select a step where you want
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Setting the Break Point Stop mode
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Executing BP (break point) stop ope
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Clearing all break points• From t
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3.4.8.2 Quick Variable Reference (T
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Pressing [Register] registers varia
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3.4.8.3 Referring to Registered Var
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3.4.8.5 Referring To or Writing Int
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3.4.9 Changing Route in Restarting
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Changing the robot end routePerform
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Step 5 Enter 0 or 1 from the numeri
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3.4.10 Supervisory Task (Software P
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Terminating supervisory tasksSuperv
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Press the OK button. The supervisor
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(3) INIT external speed parameterTh
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[ 4 ] Terminating supervisory tasks
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3.4.10.3 Restrictions on the Use of
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3.4.11 Supervisory Task ExtensionCo
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(3) Press the OK button. Your selec
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3.4.12.2 Choice of processing time
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Chapter 4GeneralIntroduction toCoor
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[1.2] Position dataPosition data re
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[1.3] Defining work coordinatesTwo
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Step 5The numeric keypad will appea
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• Defining work coordinates by di
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Configuring the external TCP functi
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[2.2] Difference in robot motion wh
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[2.3] Tool coordinatesBased on mech
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[2.5] TOOL0 (Mechanical interface c
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In programmed running(1) Using APPR
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[2.7] Tool definitionTool definitio
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Step 3 Press [F4 Tool.].F4The Defin
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Step 7 Repeat Steps 4 through 6 to
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Figure 4-17. End-effector 1 Figure
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Displaying the current tool coordin
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The chuck is mounted in parallelwit
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The Position Variables window appea
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[ 1 ] Notes on interference check a
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Defining an interference check area
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Step 5The numeric keypad will appea
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[ 4 ] Defining an interference chec
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Step 4Call up the defined interfere
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[ 6 ] Turning the specified I/O sig
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[ 7 ] Specifying a position variabl
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[ 8 ] Interpreting a detected area
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• Precautions in enabling interfe
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Step 6 Select Enable (or Disable),
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Step 3 After completion of data ent
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Step 5 Select the rightmost column
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4.1.3 Figures of the Shoulder, Elbo
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(3) Wrist figureA wrist figure is d
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Figure-1LEFTY, ABOVE, and NONFLIPFi
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[ 2 ] Boundaries of Robot FiguresTh
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(2) ABOVE/BELOW (Elbow figure)The c
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(4) SINGLE/DOUBLE (6th-axis figure)
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[1.2] Position dataPosition data re
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[ 2 ] Tool Coordinates[2.1] Tool de
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Operating procedure for tool defini
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Step 5 Use the numerical buttons on
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4.2.2 Interference Check AreaYou ma
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[ 2 ] Setting the center, angle and
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[ 3 ] Making the defined interferen
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Chapter 5Commands Assignedto Functi
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5.1.2 Menu TreeTOP ScreenF1F2F3F4F5
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5.2.1 Showing the Program List Wind
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Creating a new program in Manual mo
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Deleting a program in Manual modeAc
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(1) With the Program List window be
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Displaying and modifying integer va
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Displaying and modifying vector var
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Displaying and modifying joint vari
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Displaying and modifying double-pre
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Displaying and modifying string var
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Displaying and modifying the number
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Editing a program in Manual ModeAcc
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Deleting a program line in Manual m
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Pasting a program line in Manual mo
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Saving and compiling an edited prog
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Providing auxiliary functions in Ma
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(3) Enter the desired value(s) with
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ParametersInspect Date(0:OFF 1:ON)E
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Setting the resume-related paramete
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Setting the step return options in
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Compiling a projectAccess: [F1 Prog
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Creating a new project in Manual mo
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Enabling/disabling a selected progr
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in Teach Check ModeF1F1F4F5F6F7F9F1
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Causing a step stop in Teach check
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Returning the selected program by a
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Stopping the program(s) in Teach ch
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Displaying codes of the selected pr
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5.2.3 Showing the Program List Wind
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Halting the selected program in Aut
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Causing a cycle stop in Auto modeAc
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Causing a single-step run in Auto m
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Setting the priority order of progr
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Displaying codes of the selected pr
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5.3 Displaying the Current Robot Po
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Selecting the robot type (reserved)
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Displaying and modifying variable v
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Providing auxiliary functionsAccess
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Entering the direct teaching mode (
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• For the HS-G & HM-40***G-W seri
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Simplified Tool Coordinates Definit
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Defining work coordinatesAccess: [F
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Defining an interference check area
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Setting the user preferencesAccess:
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(Sample program for logging)PROGRAM
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Executing CAL operationAccess: [F2
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Switching the expression of the cur
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Servo Monitor:Display the current v
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Setting the motion space (software
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Releasing or locking brakesAccess:
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Adjusting the air pressure balance
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Selecting and deselecting joints to
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Resetting the motor encoder dataAcc
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5.4 Displaying the Vision MenuAcces
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Getting image signals from the spec
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Clearing the drawing screen or proc
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Displaying the camera input screen
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(2) Press OK to display the frame o
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Function keys available[F1 1 pixel]
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Browsing the stored model dataAcces
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5-122During model editing, deleting
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Analyzing images [Ver. 1.5 or later
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Setting or modifying vision board p
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5.5 Displaying I/O Signals and Simu
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Switching between standard and comp
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(3) The output conditions set when
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5.7 Displaying the Settings (Main)
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Loading a projectAccess: [F6 Set]
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5-138
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Reading and Writing Data with USB F
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Reading USB memory data into the ro
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(5) During reading, the following s
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5-146(3) During writing, the follow
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Displaying the memory information o
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Setting the communication permissio
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Ethernet connection setupProcedure
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Changing PCs connectableAccess: [F6
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(3) Select the desired transmission
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Setting the IP address of the robot
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Setting high speed program file tra
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(4) To set the target connection po
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(4) To set the delimiter, select th
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(2) Select the target port and pres
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Displaying the robot controller ON-
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Displaying the version information
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Setting the next battery replacemen
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Displaying the odometer and trip me
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5-176(Variable Clearing Confirmatio
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Protecting parameters/programsAcces
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Selecting languageAccess: [F6 Set]
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ID Number ListExtension function ID
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Saving ProgramsAccess: [F6 Set]—[
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5.9 Switching between Internal and
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Chapter 6Using theMini-PendantThis
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6.1.2 Menu Tree6-2
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6.2 Operation Using the Mini-Pendan
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6.2.4 Switching the Motion ModesKey
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6.2.6 Changing the Robot SpeedKey:
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6-10If the robot enters the inching
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6.2.9 Switching between Internal an
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(1) Checking programs in detailsOn
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(4) If you want to stop the current
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(3) Press [RUN] to call up the Sing
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(5) If you release either one of th
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6.2.12 Displaying the Current Robot
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(4.1) JumpToIf you choose "JumpTo"
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6.2.14 Reconfiguring I/O SignalsKey
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6.2.15 Executing CALKey: [CAL](Effe
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(2.2) Each AxisIf you choose "Each
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6.2.17 Logging DataKey: [LOG][SHIFT
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6.2.19 Changing Serial Port SpeedKe
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(4) After filling up the field, pre
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Procedure for individual IP address
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Changing PCs connectablePress [COM]
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6.2.23 Using Auxiliary Functions (C
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Deleting variablesChoose "Variable"
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(3) The following confirmation scre
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6.2.24 Maintaining the Robot with t
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[ 3 ] Setting the calendar clock bu
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6.2.25 Entering the Direct Teaching
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(7) Turn the motor power off and pr
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(4) If you choose "Z-Balance" and p