5.12 Registering Reference Point Instruction (SREFP)
5-22
5.12
Registering Reference Point Instruction (SREFP)
Register a reference point instruction (SPEFP) for a coordinated interpolation in the following
manner.
Operation
Explanation
1
Select {JOB} under the main
menu.
2
Select
{
JOB}.
3
Move the cursor.
Move the cursor to the line immediately before the position where
the reference point is to be registered.
4
Grasp the Enable switch.
Turn ON the servo power with the Enable switch.
5
Press the axis key.
Move the manipulator to the position which will be a reference
point.
6
Select the coordinated interpo-
lation.
Press [SMOV] to select a coordinated interpolation.
7
Press [REF PNT].
The reference point instruction appears in the input buffer line.
8
Change the reference point
number.
Move the cursor to the reference point number, and press
[SHIFT] + the cursor key to change the reference point number.
If you use the Numeric keys to change the reference point num-
ber, press [SELECT] when the cursor is on the reference point
number. Input the number and press [ENTER].
9
Press [INSERT].
The [INSERT] key lamp lights up.
When registering immediately before the END instruction, press-
ing [INSERT] is not needed.
10 Press [ENTER].
The REFP instruction is registered.
0003
0004
0005
0006
0007
SMOVL V=558
+MOVJ
CALL JOB:TEST
SMOVL V=138
+MOVJ
Immediately before
the line where the
registration point
instruction is to be
registered
SREFP
1
SREFP
2
SREFP
Ref-point no.=
0003
0004
0005
0006
0007
0008
SMOVL V=558
+MOVJ
CALL JOB:TEST
SREFP1
SMOVL V=138
+MOVJ
The reference
point instruction
is registered.
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