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RJ3

PROGRAMMING

MANUAL

Designed to accompany RJ3 training courses at FANUC Robotics (UK) Ltd.

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INTRODUCTION

Fanuc

Robotics’ RJ3 Training Course

This manual is intended to accompany the RJ3 training course held within

FANUC

Robotics UK Ltd.

It is not intended as a comprehensive manual of all that a robot can do.

Please pay particular attention to the safety advice contained within this document.

For further reference please consult the comprehensive

FANUC

Reference Manual.

Using This Manual

Each section is individual labelled to enable you to quickly access the information you

require in addition to the table of contents on page 5.

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CONTENTS

Safety .................................................................................................................................7

The Basics........................................................................................................................17

Jogging the Robot & Coordinate Systems........................................................................... 17

Creating a Program ............................................................................................................. 25

Testing a Robot Program..................................................................................................... 29

Touchup............................................................................................................................... 33

Motion Default...................................................................................................................... 35

Giving 2 Positions the Same Identity .................................................................................. 37

Program Elements............................................................................................................39

EDCMD Menu ..................................................................................................................47

INST Menu .......................................................................................................................57

Registers.............................................................................................................................. 57

Argument Registers .................................................................................................................. 63

Position Registers..................................................................................................................... 65

LPOS/JPOS .............................................................................................................................. 69

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C O N T E N T S