Multi-Segment (Waypoint) Setting

Depending on the motion command, it may be necessary to configure two or more waypoints. Each waypoint is referred to as a segment, and adding a waypoint will add a line at the bottom of the command. The motion commands requiring two or more segments are referred to as “multi-segment motion commands.”

The following is an example of configuring a Move SJ command.

1. Tap Add Pose in command properties.
   • Segment 1 is added to the bottom line of Move SJ command.
     

     

     
     

     

2. Either use the jog function or perform direct teaching to move the tool to the desired position.
3. Tap the Save Pose button in segment properties to save the robot tool position.
4. Repeat steps 1-3 to add segments.