4.18 Confirming Operation4-43 When “Multi-job operation mode” is Set in the TEACHING CONDI-TION WindowIf the manipulator stops after operating to a certain step, and the step position of the followerR1 is changed and performs FWD operation again, the leader R2 proceeds to the next stepbut the R1 does not move. As a result, the R2 goes forward by one step ahead.This is because, in the FWD operation after position change, the step after the change is usu-ally re-executed.In the above figure, at the FWD operation after the position change, the leader R2, whosestep has not been changed, move to the step 3. However, since position of the follower R1 ischanged, the step after the change is executed again. As a result, operation is performed atthe same position and it does not proceed to the next step. In this way, the steps of the leaderand follower do not correspond each other.To make the steps of two sides correspond each other at the FWD operation after the positionchange in the above case, move the cursor to the next step for the job where a change hasbeen made, then perform FWD operation, TEST run, and playback.1212Change the step offollower1212Repeat FWD1212FWD12123343FWD121234354(The numbers in the figure are stepnumbers.)R2(leader)R1(follower)107/210
