Yamaha RCX240, User Manual

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Chapter 4 OPERATION
11. "MANUAL" mode
Chapter 4 OPERATION
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11.1 Manual movement
In "MANUAL" mode, you can manually move the robot with the Jog keys as explained below.
w
WARNING
THE ROBOT STARTS TO MOVE WHEN A jOG kEY IS PRESSED. TO AVOID DANGER, DO
NOT ENTER THE ROBOT MOVEMENT RANGE.
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NOTE
• When two robots (main and sub robots) are specified, check the currently
selected robot group on the RPB before performing manual movement. If the
selected robot group is wrong, press ( + ) to change the robot
group.
• For details on the soft limits, refer to "12.1.4 Axis parameters" in this chapter.
• When the current position is displayed in "pulse" units, the robot can be moved
manually along the axes whose servos are on, even if the servos of the other
axes are off.
• When the current position is displayed in "mm" units, the robot can be moved
manually only when the servos of all axes are on.
• The maximum jog movement time for one movement command is 300 seconds.
So if the software limits are set too large and the movement time exceeds 300
seconds at the specified speed, the robot movement will stop in 300 seconds. To
move the robot further, use jog movement once again.
1. Manual movement when return-to-origin has been completed
(1) When the current position is displayed in "pulse" units:
A letter "J" is displayed on the upper right of the RPB screen.
ＭＡＮＵＡＬ ５０％［ＭＧ］［Ｓ０Ｈ０Ｊ］
Ｃｕｒｒｅｎｔ ｐｏｓｉｔｉｏｎ
＊Ｍ１＝ １２５２１＊Ｍ２＝ −５２２０４＊Ｍ３＝ ３０２１
ＰＯＩＮＴ ＰＡＬＬＥＴ ＶＥＬ＋ ＶＥＬ−
Display shown in "pulse" units (J)
Each time a Jog key is pressed, the robot moves a specified distance (inching distance) along
the corresponding axis. When the Jog key is held down, the robot keeps moving towards the
soft limit of the axis. 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
value.
[Example] When manual movement speed is 20%:
Inching distance in "pulse" units = 20 pulses
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.