OPERATOR’S MANUALseries Robot Controller
3.5 Guidance
!
CAUTION
• When guiding the robot manually, DO NOT enter the dangerous area of the
robot.
• If the robot moves abnormally, immediately effect an emergency stop.
(1) Function
While the JOG or INCHING mode is selected, the robot can be moved in a
desired direction by pressing the appropriate guide key.
(2) Procedures
(a) Step 1: Teaching mode selection.
Press the MODE switch on the control panel to select "TEACHING."
(b) Step 2: Setting of guidance conditions.
Set the guidance conditions (guide coordinates, guide mode, and guide
speed) as necessary.
The guide coordinates, guide mode, and guide speed can be selected in any
order. Select them before pressing the guide key.
(c) Step 3: Guidance.
Press the guide key (indicating axis and direction) for a desired axis with the
servo being turned on.
Then the robot moves as directed in the specified coordinate system.
(3) Cautions
• The guide key is effective only when it is pressed with the servo being turned
on.
• The state when the enable switch is pressed two positions is the same as
when it is released.
• The robot does not move even if only the guide key is pressed in order to
prevent accidents.
• When the FREE mode is selected, the guide key does not select the
direction of axes but cancels each axis servo lock.
STE 80720
– 3-6 –
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