Yamaha RCX40 User Manual page 134

11. "MANUAL" mode
n
NOTE
• If the robot movement beyond the
soft limit is attempted with the Jog
keys, the message "Over soft
limit" appears and the robot stops.
Refer to "12.1.2 Axis parameters"
for the soft limit.
• When a Jog key is pressed once
(momentarily), the movement
distance (inching distance) is
equal to the manual speed setting
value.
[Example]
When manual movement speed is 20%:
Inching distance in "pulse" units
= 20 pulses
Inching distance in "mm" units
= 0.20 mm
4
c
CAUTION
When return-to-origin is incomplete,
the soft limit does not work correctly.
n
NOTE
• When the current position is
displayed in "pulse" units, and
some servos are off and some
servos are on, the axes set with
servo turned on can be moved
manually.
• When the current position is
displayed in "mm" units, manual
movement can be done only when
the servos of all axes are on.
• Each axis travels by jog movement
towards the plus or minus software
limit. The maximum 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
axis movement will stop in 300
seconds. To move the axis further,
use jog movement once again.
74
4-
2. When return-to-origin is not complete
(1) When the current position is displayed in "pulse" units:
Robot movement with the Jog keys is possible the same as when return-to-origin
is complete. However, the message "Origin incomplete" appears when a Jog key
is pressed.
(2) When the current position is displayed in "mm" units:
The robot does not move with the Jog keys. The current position display switches
automatically to "pulse" units and the message "Origin incomplete" appears. Per-
form absolute reset at this point.