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2.3.4. Manual Operation Speed

2.3.4. Manual Operation Speed​

 

In the manual mode, the robot can be activated through the manual jog operation and the step forward/backward operation. The individual control methods are as follows. Below the top right side of TP, the currently set speed is shown in the speed window.

 

 

The ‘manual speed’ window shown above is to be displayed only in the manual mode, while the ‘playback speed’ window will be displayed in the automatic mode. The number ‘5’ on the left bottom of the speed window indicates the level of jog speed, while the numeric datum ‘250mm/s’ on the right of the speed window signifies the speed limit for the step forward/backward. In this case, the speed limit means the speed within which the speed for the step forward/backward activity is restricted. The sign ‘<’ in front of the numeric datum means the speed is equal or slower. For example, when the recorded step speed is 1000mm/s and the speed limit for the manual mode is 250mm/s, then the step movement speed limit during the step forward/backward activities will be restricted to 250mm/s. If the recorded speed is 100mm/s, which is slower than the manual speed 250mm/s, so, the robot will move at the speed of 100mm/s.

 

For the jog operation, the [SPEED] key is used to adjust the speed by the unit of one level within the range from Level 1 to Level 8. Even in this operation, the maximum speed for the robot tool and link will be restricted below 250mm/s.

 

For the step forward/backward activities, the [CTRL] + [SPEED] keys are used to adjust the speed by the unit of 50mm/s within the range from 50mm/s to 250mm/s. The maximum speed for the robot tool and link will be restricted below the set speed.

 

The speed can be adjusted by manipulating the keys as illustrated above, the adjustment can be made also by applying the touch method. When the manual speed window is touched, the window shown below will appear, allowing the speed to be adjusted conveniently

 

 

Figure 2.23 Manual speed setting window

 

If the length and angle values in the tool data are set differently from the actual ones, the tool could run in a very high speed when operated in the manual mode. So, it must be checked before the operation whether the tool data are correctly set..