Limitations Of The Movement Of The S-, U-Axes - YASKAWA MOTOMAN-MFL15D-875 Instructions Manual

MFL15D-875/-1600
5.6
5 Basic Specifications

5.6 Limitations of the Movement of the S-, U-Axes

Limitations of the Movement of the S-, U-Axes
The manipulator limits the movement of the S- and U-axes according to
the position of the R- or L-axis. Basically, for high-speed movement of the
S- and U-axes, move these axes after moving the R- and L-axes to the
home position (0 pulse position) or behind the home position where the
pulse is negative.
If either the R- or L-axis is ahead of the home position where the pulse is
positive, the S- and U-axes cannot move faster than the specified speed
limit. The following alarm occurs if an attempt is made to use a move
instruction to move the axes faster than the speed limit:
Alarm 4617: SU IMPOSSIBLE MOVE (L/R POS) [1]
The S- and U-axes cannot move if both the R- and L-axis are ahead of the
home position. The following alarm occurs if an attempt is made to use a
move instruction to move the S- or U-axis:
Alarm 4617: SU IMPOSSIBLE MOVE (L/R POS) [2]
If any of the above alarms occur, add another teaching position before the
move instruction where the alarm has occurred, change the teaching
position immediately before the instruction, or return the R- and L-axes to
the home position.
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