S2C326: Deviated Position - YASKAWA NX100 Operator's Manual

8 Parameter
8.2 Motion Speed Setting Parameters
Parameter Setting
Value
1
2
• To the path deviated position, the manipulator moves in a straight line at low speed
NOTE
operation (SICxG044).
It is linear movement. After resetting from deviation, the speed becomes the same as
taught speed.
• The initial setting (prior to shipping) is 0: The manipulator moves in a straight line from the
present position to the indicated step.


S2C326: DEVIATED POSITION

This parameter specifies whether deviated position is to be robot current (reference) position or
feedback position.
0: Return to the feedback position.
1: Return to the current value (reference) position.
When emergency stop is applied during high-speed motion, the deviated position differs from the robot
current value (reference) position and feedback position as shown in the following.
S2C325
After moving back to the deviated position, move to the indicated
step.
JOG
JOG
Feedback position
Emergency stop
Movement When Restarting
Emergency stop (Servo OFF)
Move to the path deviated
position and then move to
the indicated step.
Emergency stop (Servo OFF)
Move to the path deviated
position and stop. When
restarting, move to the
indicated step.
Current value
(reference) position
8-7
149235-1CD
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RE-CSO-A031