Yamaha RCX222, User Manual

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Chapter
4
OPERA
TION
11. "MANUAL" mode
If robot movement beyond the +/- soft limits is attempted with the Jog keys, the error
message "2.1: Over soft limit" appears and the robot does not move.
(2) When the current position is displayed in "mm" units:
A letter "X" is displayed on the upper right of the RPB screen.
■
Display shown in "mm" units (X)
————————————————————————————————————————
*Mx= 151.05 *My= -35.27
MANUAL 50%[MG][S0H0X]
Current position
POINT PALLET VEL+ VEL-
When a Jog key is pressed, the robot moves in the corresponding direction on the
Cartesian coordinates.
Each time a Jog key is pressed, the robot moves a specified distance (inching
movement). When the Jog key is held down, the robot keeps moving. The robot stops
when the Jog key is released or either of the soft limit or shift coordinate range is
reached.
The robot stops when the Jog key is released or the soft limit is reached.
The movement distance (inching distance) is equal to the manual movement speed
setting (%) multiplied by 0.01mm or 0.01 deg.
[Example] When manual movement speed is 20%:
Inching distance in "mm" units = 0.20mm
If robot movement beyond the +/- soft limits is attempted with the Jog keys, the error
message “2.1: Over soft limit” appears and the robot does not move. Likewise, if
robot movement beyond the shift coordinate range is attempted, the error message
“2.11: Exceeded shift coord. range” appears and the robot does not move.
If the current position is outside the soft limits, the error message “2.1: Over soft
limit” also appears and the robot does not move.