about programing of motoman code

this instruction apear only if you have the option of external TCP on you Robot. for the signal question search this forum for ladder and concurrent i/o manual

EIMOVL and EIMOVC only show up if you use SHIFT + MOTION TYPE and if you have purchased the EXTERNAL TCP option on your controller. It will also give you one extra coordinate system when you press the COORD key...

hiee..

What do u mean by external TCP??

please explain me.

thank you

The external reference point function makes it possible to use a point in space as a control point of the robot for teaching and playback. This point in space is called the external reference point.

During deburring, bending, sealing or spot-welding where the workpiece is held by the robot, by defining the tip of a nozzle, deburring bit, brake or the gun as a reference point, the orientation of the workpiece, etc. can be changed.

For interpolation during playback, the speed of an external reference point is controlled in relation to the speed of the workpiece.

An external reference point is defined to the user coordinate origin (ORG). External reference point control is possible only when user coordinates are registered.