Manual Movement - Yamaha RCX141 User Manual

11. "MANUAL" mode
w
WARNING
The robot starts to move when a
Jog key is pressed. To avoid
danger, do not enter the robot
movement range.
n
NOTE
• When two robots (main and sub
robots) are specified, check the
currently selected robot group on the
MPB before performing manual
movement. If the selected robot group
is wrong, press the ROBOT (
+ ) key to change the robot
MODE
group.
• For details on the soft limits, refer to
4
"12.1.2 Axis parameters" in this
chapter.
• When the current position is
displayed in "pulse" units, the robot
can be moved manually along the
axes whose servos are on, even if the
servos of the other axes are off.
• When the current position is
displayed in "mm" units, the robot
can be moved manually only when
the servos of all axes are on.
• The maximum jog movement time for
one movement command is 300
seconds. So if the software limits are
set too large and the movement time
exceeds 300 seconds at the specified
speed, the robot movement will stop
in 300 seconds. To move the robot
further, use jog movement once
again.
74
4-

11.1 Manual movement

In "MANUAL" mode, you can manually move the robot with the Jog keys as explained
below.
1. Manual movement when return-to-origin has been completed
(1) When the current position is displayed in "pulse" units:
A letter "J" is displayed on the upper right of the MPB screen.
Fig. 4-11-4 Display shown in "pulse" units (J)
MANUAL
LOWER ————————————————————————————————————————
Current position
*M1=
POINT
Each time a Jog key is pressed, the robot moves a specified distance (inching distance)
along the corresponding axis. When the Jog key is held down, the robot keeps moving
towards the soft limit of the axis. The robot stops when the Jog key is released or the
soft limit is reached.
The movement distance (inching distance) is equal to the manual movement speed
setting value.
[Example]
If robot movement beyond the +/- soft limits is attempted with the Jog keys, the error
message "2.1: Over soft limit" appears and the robot does not move.
(2) When the current position is displayed in "mm" units:
A letter "X" is displayed on the upper right of the MPB screen. If "Tool coordinate"
mode is selected, a letter "T" is displayed.
Fig. 4-11-5 Display shown in "mm" units (X)
MANUAL
————————————————————————————————————————
Current position
*Mx= 151.05 *My= -35.27 *Mz=
POINT
Fig. 4-11-6 Display shown in "mm" units (Tool coordinate mode: T)
MANUAL
————————————————————————————————————————
Current position
*Mx= 204.73 *My=
*Mr=
POINT
12521 *M2= -52204 *M3=
PALLET
When manual movement speed is 20%:
Inching distance in "pulse" units = 20 pulses
PALLET
81.40 *Mz=
32.51
PALLET
50%[MG][S0H0J]
3021
VEL+ VEL-
50%[MG][S0H0X]
49.23
VEL+ VEL-
50%[MG][S0H1T]
25.37
VEL+ VEL-