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STE 58761
－ －
3-6
3.5 GUIDANCE
!
Caution
・
If the guidance is performed manually, do not enter the robot dangerous area.
・
If the robot moves abnormally, immediately effect an emergency stop.
・
If the robot will not move in the specified direction, consult Toshiba Machine.
(1) Function
The robot can be moved in the desired direction by pushing the appropriate guide
keys when the guide movement mode is set to inching or jog.
(2) Input format
The guidance coordinates, guide movement mode and guide speed do not have to
be set in any particular order. However, they all must be set before pushing any
guide keys.
(3) Comments
When the guide movement mode is set to free, the guide keys do not specify the
direction the robot is to move; rather, they specify axes for which the servo lock is
to be released.
The guide keys will only work while at least one of the deadman switches (on the back of
the teach pendant) is pushed down. This is to prevent accidents.
(4) Procedures
(a) Step 1: Select the Manual Mode
Turn the master mode switch on the control panel to "MANU".
(b) Step 2: Set the guidance conditions
Set the guidance conditions (guidance coordinates, guide movement and guide
speed) as necessary.
(c) Step 3: Guidance
Push the guide keys as appropriate while holding down at least one deadman
switch (on the back of the pendant). The robot will move as directed in the
specified coordinate system.