Single Motion Mode; Precautions - YASKAWA Motoman XRC Function Manual

3.1.2

Single Motion Mode

In this mode, the master axis and the slave axis move individually.
When the specified external input status is ON, each axis moves in a single motion.
[Example] For TWIN-2
Press the 1st axis key or the 2nd axis key to move the corresponding axis only.
Z- Z+ z
U- U+
T-
Pressing the slave axis key
moves only the sub axis.
3.1.3

Precautions

Select either the twin motion mode or the single motion mode by external input before starting
the axis operation.
The motion mode does not change when the external input status is changed while an axis
key is pressed.
The motion mode is determined according to the external input status that exists when the
axis key is pressed, not after.
Slave axis
Slave axis
z
T+
Master axis
Z-
U-
Pressing the master axis key
moves only the master axis.
Master axis
3-3
3.1 Axis Operation
Z+
z z
U+
T- T+