Yamaha CEmarking RCX221, Руководство пользователя

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4-82
Chapter
4
OPERA
TION
11. "MANUAL" mode
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.
n
NOTE
• For details on the soft limits, refer to "12.1.2 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 specifi ed speed, the robot movement
will stop in 300 seconds. To move the robot further, use jog movement
once again.
The robot moves as follows:
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.
■
Display shown in "pulse" units (J)
————————————————————————————————————————
*M1= 12521 *M2= -52204
MANUAL 50%[MG][S0H0J]
Current position
POINT PALLET VEL+ VEL-
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