3
Opera
tion
3-5
2.1.1
Jog movement in return-to-origin complete status
1.
When the current position is displayed in "pulse" units.
"[pulse]" is displayed on the right of "CURRENT" on the programming box screen.
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
it reaches the soft limit.
■
Display shown in "pulse" units
The distance to be moved using the inching
operation equals the number of pulses that are set
using "INCH".
Example): When the INCH movement amount is "1000",
the inching distance in "pulse" units becomes 1000 pulses.
When it is attempted to move to a position exc/- soft limit of each axis by pressing the Jog key, the
message "2.334: Over soft limit" appears and the robot does not move.
2.
When the current position is displayed in "mm" units.
"[mm]" is displayed on the right of "CURRENT" on the programming box screen. When the tool coordinate is
selected, "[mm](tool)" is displayed.
1) Tool coordinate is not selected ([mm])
When pressing the Jog key, the robot arm tip moves
on the Cartesian coordinates in the direction
corresponding to this key.
For the axis with the auxiliary axis setting, only the
corresponding axis moves.
■
Display shown in "mm" units
2) Tool coordinate is selected ([mm](tool))
The tool coordinates can be used when selecting the
hand data fixed to the R-axis of the SCARA type
robots (hand definitions are set).
When pressing the Jog key on the programming box, the hand will move.
Pressing the
or
key moves the hand forwards or backwards.
Pressing the
or
key moves the hand to the left or right.
Pressing the
or
key rotates the end of the hand around its center.
When the other Jog keys are pressed, the robot moves the same way as when tool coordinates are not
selected.
Summary of Contents for YRCX Series
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