Motion Mode; Speed Key - Denso VS-6556G Instruction Manual

MOTION MODE

There are three motion modes the robot is able to be operated in during manual mode: Joint mode, X-Y
mode, and tool mode. The operation in Joint mode is shown above. Operation in X-Y mode and Tool
mode assigns the buttons the following operations but with different origins:
J1 – Moves parallel to X-axis
J2 – Moves parallel to Y-axis
J3 – Moves parallel to Z-axis
J4 – Rotates with X-axis as rotation center
J5 – Rotates with Y-axis as rotation center
J6 – Rotates with Z-axis as rotation center
When the robot is in X-Y mode the center of the bottom
of the base is used as the origin
When the robot is in Tool mode the center of the flange
X-Y MOTION MODE COORDINATE SYSTEM
surface on the tool face is used as the origin.

SPEED KEY

The speed key allows the user to set the speed at which the robot runs either during manual operation
or while running a selected program.
In Auto mode, the robot will run at the (programmed speed x reduced ratio (%)). If set to 80%, the robot
will run at 80% of the programmed speed.
In Manual mode or Teach check mode, the robot controller is designed to run the robot at 10% of the
programmed speed. If set to 80% speed, therefore, the robot will run at 10% x 80% of the programmed
speed, that is, at 8% (0.1 x 0.8 = 0.08).
At the start, set the speed to 20% or less. By running the robot manually at high speeds from the
beginning, it may mistakenly strike against the surrounding objects.