Mitsubishi Electric RV-13FM-SE Series, Инструкция по эксплуатации

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2 Unpacking to Installation
Confirming the operation 2-25
2.4 Confirming the operation
In this section, the robot will be moved manually using the T/B to confirm that the operation is correct.
Moving the robot manually is called "jog operation". This operation includes the JOINT jog that moves each axis,
the XYZ jog that moves along the base coordinate system, the TOOL jog that moves along the tool coordinate
system, and the CYLNDER jog that moves along the circular arc.
This operation is carried out while pressing the deadman switch on the back of the T/B.
Note) The figure of the robot which indicated to the explanation page in each jog mode is an example.
The robot will move during this operation. Make sure that there are no operators
near the robot, and that there are no obstacles, such as tools, in the robot operation
range.
To immediately stop the robot, release the deadman switch on the back of the T/B.
The servo power will turn OFF, and the robot will stop.
The robot will also stop if the [EMG.STOP] switch (emergency stop switch) on the
front of the T/B or the [EMG.STOP] switch (emergency stop) on the front of the
controller is pressed.
To check whether the origin of the robot deviates, move the robot arm to the posi
-
tion where the ABS marks align each other, and check the displayed joint coordi
-
nates of the position.
For the details of the ABS mark position and the joint coordinates, refer to
Page
104, "5.6 Resetting the origin" , and Page 119, "5.6.2 ABS origin method" .
Confirm that the origin has been set. If the origin has not been set, "****" will
appear at the current position display on the teaching pendant, the JOINT jog oper
-
ation will take place in any jog mode selected.
Refer to
Page 18, "2.3 Setting the origin" for details on setting the origin.
CAUTION
CAUTION
CAUTION
WARNING
◇◆◇ How to choose the jog mode ◇◆◇
Press the [JOG] key, the jog screen will be
displayed, and display the jog mode which can be
chosen at the bottom of the screen. Because
these correspond to the function key of [F1] - [F4],
press the function key corresponding to the jog
mode to wish. And, if the [FUNCTION] key is
pressed, selection in jog modes other than the
present display is possible. The override (100%),
the mechanism number (M1), and the tool number
(T1), and the base coordinate number (B1) are
displayed on the upside of the screen following the
present jog mode (JOINT).
<CURRENT> JOINT 100% M1 T0
J1: +0.00 J5: +0.00
J2: +0.00 J6: +0.00
J3: +90.00 :
J4: +0.00 :
CYLNDR JOG TOOL
XYZ
3-XYZ
⇒
Choose the jog mode
～
JOINT 100% M1 TO B1