[ Controlling Tool Movement ]______________________________________________________ 68
Moving the Z axis: upZ, downZ, movetoZ________________________________________ 68
Moving straight in CP drive: lineMoveSpeed, lineMoveStopIf_________________________ 70
Executing mechanical initialization by a point job: initMec ___________________________ 72
Position error detection: checkPos _____________________________________________ 73
[ LCD, 7SLED ]_________________________________________________________________ 74
Displaying the specified strings on the teaching pendant:
clrLCD, clrLineLCD, outLCD, eoutLCD ______________________ 74
Displaying arbitrary numbers on the 7SLED: sys7SLED, out7SLED ___________________ 75
[ COM Input/Output ]_____________________________________________________________ 76
COM Input/Output: outCOM, eoutCOM, setCOM, _________________________________ 76
cmpCOM, ecmpCOM, clrCOM, shiftCOM___________________________ 76
PC Communication: stopPC, startPC___________________________________________ 80
[ Variables, Comments, System Control ]_____________________________________________ 81
Declaration and assignment of variable: declear, let________________________________ 81
Comment insertion: rem,crem ________________________________________________ 83
Changing a program number using point job: setProgNo____________________________ 84
Changing a sequencer program using point job: setSeqNo __________________________ 85
Features II CARTESIAN Benchtop Robot
xvii
