Yamaha RCX240 User Manual page 168

11. "MANUAL" mode
Robot movement in "Tool coordinate" mode (example) (1)
1
2
3
If the above hand is defined, the robot moves with Jog keys as illustrated below.
Robot movement in "Tool coordinate" mode (example) (2)
4
5
6
Each time a Jog key is pressed, the robot moves a specified distance (inching movement).
When the Jog key is held down, the robot keeps moving. The robot stops when the Jog key is
released or either of the soft limit or shift coordinate range is reached.
The robot stops when the Jog key is released or the soft limit is reached.
7
The movement distance (inching distance) is equal to the manual movement speed setting (%)
multiplied by 0.01mm or 0.01 deg.
[Example] When manual movement speed is 20%:
8
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. Likewise, if robot movement
beyond the shift coordinate range is attempted, the error message "2.11: Exceeded shift
coord. range" appears and the robot does not move.
9
If the current position is outside the soft limits, the error message "2.1: Over soft limit" also
appears and the robot does not move.
10
4-90
Chapter 4 OPERATION
Y
-90.00 degrees
100.00mm
Robot movement with to
Y
Inching distance in "mm" units = 0.20mm
X
HAND 1
keys Robot movement with
Y
X
to and keys
X