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8
SERVO 8-193
8
N
O
P
Q
R
S
T
U
V
W
X
Y
Z
106
SERVO
Controls the servo status
Format
SERVO [robot number] ON
(axis number)
OFF
FREE
Values
robot number
........................
axis number
...........................
1 to 4 (
1 to 6 (
If not input, robot 1 is specified.)
• Multiple axes not specifiable
• If not input, all axes are specified.)
Explanation
This command controls the servo ON/OFF at the specified axes or all axes.
SERVO
command
SERVO
Motor power
Dynamic
brake
Electromagnetic
brake
ON
ON
OFF
OFF
OFF
OFF
OFF
OFF
(In the case of all axes servo OFF)
ON
ON
FREE
OFF
Continues the previous status
OFF
OFF
• This command is executed after the operation of all axes of the specified robot has been
complete (after positioned within the tolerance).
• The motor power is a power supply unit for robot (motor) in the controller.
• The dynamic brake controls the motor by using the electric power which is generated in the
motor when the servo is turned OFF.
SAMPLE
SERVO ON
····················· T u r n s s e r v o s O N a t a l l a x e s
of robot 1.
SERVO OFF ····················· T u r n s t h e s e r v o O F F a n d a p p l i e s
t h e d y n a m i c b r a k e a t a l l a x e s
of robot 1. Axes equipped with brakes are
all locked by the brake.
SERVO FREE(3) ··················· T u r n s s e r v o s O F F a t a x i s 3
of robot 1, and releases the brake.
CAUTION
•
Always check that the
Emergency Stop is ON
and Servo is OFF when
working within the robot
movement range.
•
Electromagnetic brake is
the brake to prevent the
vertical axis from sliding
downward. The vertical
axis will slide downward
when the servo is FREE,
c a u s i n g a h a z a r d o u s
situation.
MEMO
Summary of Contents for SCARA YRCX Series
Page 1: ... 7 6HULHV DW 1R 1 5 5RERW RQWUROOHU 352 5 00 1 0 18 6 5 5RERWV 5 6HULHV ...
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Page 27: ...Chapter 2 Constants 1 1 Outline 2 1 2 2 Numeric constants 2 1 3 3 Character constants 2 2 ...
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Page 61: ...Chapter 5 Multiple Robot Control 1 1 Overview 5 1 2 2 Command list with a robot setting 5 2 ...
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Page 409: ...Chapter 11 User program examples 1 1 Basic operation 11 1 2 2 Application 11 8 ...
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Page 489: ...Chapter 13 Appendix 1 1 Reserved word list 13 1 2 2 Changes from conventional models 13 3 ...
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