Mode; Jog/Inching; Jog Mode - YASKAWA DX200 Instructions Manual

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4.4

4.4.1 Jog/Inching

4.4.1.1 Jog Mode

4 Hand Guiding Function Execution Procedures
4.4

Mode

Mode
There are following three mode switching functions in the hand guiding
function.
The robot operation methods and moving methods differ depending on the
combination of each mode.
Table 4-1: Mode
Signal name Signal status Mode
General input OFF
4075 (#05102)
ON
General input OFF
4076 (#05103)
ON
General input OFF
4077 (#05104)
ON
The robot operation methods in the hand guiding function can be selected
from two types: jog operation and inching operation.
The jog mode allows the robot to move when applying force to the hand
guiding device or while the I/O for the moving operation is ON by an I/O input.
<Force sensor input mode>
While the force applied to the hand guide is exceeding the dead-zone
(translation direction: 20[N], rotation direction: 0.8[N•m]), the robot moves.
<I/O input mode>
While the I/O for the move operation is ON, the robot moves.
(For the I/O for the move operation, refer to chapter 4.4.3 "Force Sensor/
I/O Input" .)
4-3
Overview
Jog Continuously moving operation
during the hand guiding operation
Inching Set amount moving operation
during the hand guiding operation
Translation Translation motion of the robot
control point
Rotation Posture changing operation with
fixing the position of the control
point
Force Robot moving operation by a
sensor input force sensor input
I/O input Robot moving operation by an I/O
input
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