YASKAWA DX200 Instructions Manual

Also see for Motoman DX200: Instruction manual Instructions Instructions Setup procedure Instructions

Contents

YASKAWA DX200 Instructions Manual Manual pdf 35 page image

4 Hand Guiding Function Execution Procedures4.4 Mode4-3HW1485706HW14857064.4 ModeThere are following three mode switching functions in the hand guidingfunction.The robot operation methods and moving methods differ depending on thecombination of each mode.4.4.1 Jog/InchingThe robot operation methods in the hand guiding function can be selectedfrom two types: jog operation and inching operation.4.4.1.1 Jog ModeThe jog mode allows the robot to move when applying force to the handguiding device or while the I/O for the moving operation is ON by an I/O input.While the force applied to the hand guide is exceeding the dead-zone(translation direction: 20[N], rotation direction: 0.8[N•m]), the robot moves.While the I/O for the move operation is ON, the robot moves.(For the I/O for the move operation, refer to chapter 4.4.3 “Force Sensor/I/O Input” .)Table 4-1: ModeSignal name Signal status Mode OverviewGeneral input4075 (#05102)OFF Jog Continuously moving operationduring the hand guiding operationON Inching Set amount moving operationduring the hand guiding operationGeneral input4076 (#05103)OFF Translation Translation motion of the robotcontrol pointON Rotation Posture changing operation withfixing the position of the controlpointGeneral input4077 (#05104)OFF Forcesensor inputRobot moving operation by aforce sensor inputON I/O input Robot moving operation by an I/Oinput35/58