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STE 58760
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2-12
Note 3)
In the horizontally articulated type robots, there is an axial interference between the joint axes.
For example, when the axis 2 is moved, the servo motors of axes 3 and 4 also move to keep
axis Z in the same place. When an axis is operated and another axis also moves, it is
conceivable that set parameters are incorrect. In this case, contact us at the after-sale service
department or our agent in your territory.
(5) Check that the robot soft limit switches work correctly.
Guide each axis to the motion limit position and check that it works correctly. When the robot
detects a motion limit position, an error message appears on the teach pendant. The robot
cannot be guided out from the soft limit.
(6) Set the guide speed to the middle and high speed and guide the robot
Press the "Teach Speed" key on the teach pendant several times until the "Med." or "High" LED
lights. After that, press the desired XYZCT key and guide the robot. Check that the robot
moves smoothly.