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11. "MANUAL" mode
11.1 Manual movement
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In "MANUAL" mode, you can manually move the robot with the Jog keys as explained below.
w
WARNING
THE ROBOT STARTS TO MOVE WHEN A jOG kEY IS PRESSED. TO AVOID DANGER, DO
NOT ENTER THE ROBOT MOVEMENT RANGE.
2
n
NOTE
• When two robots (main and sub robots) are specified, check the currently
3
• For details on the soft limits, refer to "12.1.4 Axis parameters" in this chapter.
• When the current position is displayed in "pulse" units, the robot can be moved
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• When the current position is displayed in "mm" units, the robot can be moved
• The maximum jog movement time for one movement command is 300 seconds.
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1. Manual movement when return-to-origin has been completed
(1) When the current position is displayed in "pulse" units:
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A letter "J" is displayed on the upper right of the RPB screen.
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8
Each time a Jog key is pressed, the robot moves a specified distance (inching distance) along
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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] When manual movement speed is 20%:
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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.
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Chapter 4 OPERATION
selected robot group on the RPB before performing manual movement. If the
selected robot group is wrong, press
group.
manually along the axes whose servos are on, even if the servos of the other
axes are off.
manually only when the servos of all axes are on.
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.
Display shown in "pulse" units (J)
Inching distance in "pulse" units = 20 pulses
(
+
) to change the robot
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