3 Teaching3.4 Modifying Steps3-28149235-1CDRE-CSO-A0313.4.2 Inserting Move InstructionsMove instructions cannot be inserted when the servo power is OFF.Operation Explanation1 Move the cursor to the lineimmediately before the insertposition.2 Press the axis operation key. Turn ON the servo power and press the axis operation key tomove the manipulator to the position to be inserted.3 Press [INSERT]. The key lamp will light.4 Press [ENTER]. The move instruction is inserted after the cursor line.When a move instruction is inserted in the following job, it isplaced on different lines according to the setting in theTEACHING CONDITION window.NOTEStep where move instruction is to be insertedPath before insertionPath after insertion0006 MOVL V=2760007 TIMER T=1.000008 DOUT OT#(1) ON0009 MOVJ VJ=100.0The line immediatelybefore where themove instructionis to be added.Confirm the move instruction on the input buffer lineand set desired interpolation type and play speed.NOTEWhen the inserting position is immediately beforethe END instruction, pressing [INSERT] is notneeded.NOTE0006 MOVL V=2760007 TIMER T=1.000008 DOUT OT#(1) ON0009 MOVL V=5580010 MOVJ VJ=100.0The move instructionis added.0006 MOVL V=2760007 TIMER T=1.000008 DOUT OT#(1) ON0009 MOVL V=5580010 MOVJ VJ=100.0Addedinstruction0006 MOVL V=2760007 MOVL V=5580008 TIMER T=1.000009 DOUT OT#(1) ON0010 MOVJ VJ=100.0AddedinstructionBefore inserting the move instructionAfter the insertion: when inserting before the next step After the insertion: when inserting after the cursor line0006 MOVL V=2760007 TIMER T=1.000008 DOUT OT#(1) ON0009 MOVJ VJ=100.0Cursor line92 of 493
