Edinburgh Hacklab

• Press the “Motion Type” button to select MOVL (linear) or MOVJ (joint)

1. Navigate to the job line that you want to insert the movement after
2. With servo power applied, select “Insert” and press “Enter”

• With servo power applied, hold “FWD” or “BWD” to move the robot through the job positions
• Hold “HIGH SPD” too, to go faster

1. Use the arrow keys to navigate to the MOVL/MOVJ instruction (not the line number)
2. Press “Select”
3. Use the arrow keys to navigate to the V= value
4. Press “Select”
5. Enter the new value
6. Press “Enter” twice

A safe speed for MOVJ is “10”, it's useful to do this at the start of your job to initialise its position from wherever the robot currently is (because it may not be able to go at a constant linear speed)