You can test the programs that move the robot to predefined positions. You do this by testing programs on the Move Menu. You must set up predefined positions before you can move to them.
Procedure 1. Moving to a Predefined Position
The predefined position has been set up.
All personnel and unnecessary equipment are out of the workcell.
Press MOVE MENU. You will see a screen similar to the following.
1 HOME PR [home program ] 2 CLNIN PR [cleanin program ] 3 CLNOUT PR [cleanout program] 4 BYPASS PR [bypass program ] 5 PURGE PR [purge program ] 6 SPECIAL1 PR [Special Pos 1 ] 7 SPECIAL2 PR [Special Pos 2 ] 8 OPNHOME PR [Opener Home ] 9 OPNBYPAS PR [Opener Bypass ] 10 OPNSPC1 PR [Opener Special ]
Items 8 – 10 are displayed only if you have the P-10 or P-15 opener.
Position the cursor on the predefined position you want to test.
Make sure that STEP mode is disabled. If the STEP status indicator is on, press the STEP key.
Continuously press the DEADMAN switch.
Turn the teach pendant ON/OFF switch to the ON position.
The next step causes the robot to move. Make sure all personnel and unnecessary equipment are out of the workcell and that all safeguards are in place; otherwise, you could injure personnel and damage equipment. In the next step of this procedure, if you want to stop the program before it has finished executing, release the SHIFT key or press the EMERGENCY STOP button.
Hold down the SHIFT key and press F4, MOVE_TO. The F4 key can be released, but the SHIFT key must be held continuously until the program has completed executing.
When the robot has completed moving through the selected program, an @ sign will be displayed on the screen indicating that the robot is at the position. See the following screen for an example when the robot has finished the CLNOUT program.
It is possible to have more than one @ sign displayed on the screen at one time. For example, if the robot is at the home position and it is the same as the last position in the clnout program, the @ sign will be displayed twice.
MOVE MENU 1 @ HOME PR [home program ] 2 CLNIN PR [cleanin program ] 3 @ CLNOUT PR [cleanout program] 4 BYPASS PR [bypass program ] 5 PURGE PR [purge program ] 6 SPECIAL1 PR [Special Pos 1 ] 7 SPECIAL2 PR [Special Pos 2 ] Press SHIFT and F4 to move