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STE 58761
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3-7
3.6 SERVO FREE
(1) Function
Servo locks can be released for axes as desired when the guide movement mode
is set to free. Axes in the servo free (i.e., unlocked) state can be moved freely by
hand. This is convenient when moving the robot near workpieces and other such
objects.
(2) Input format
None
(3) Comments
If You change from the servo free state to either the Test Operation Mode, the
Internal Automatic Mode or the External Automatic Mode, the servo lock will be set
for all axes.
The guide keys will only work while at least one of the deadman switches (on the back of
the teach pendant) is pushed down.
If you move the robot by hand in the servo free state, other joints may move as well due to
axial interference.
You cannot cancel the servo free state while in Feed Hold.
You can cancel the servo free state while displaying the Error History.
(4) Procedure
(a) Step 1: Select the Manual Mode
Turn the master mode switch on the control panel to "MANU".
(b) Step 2: Select the guide movement mode
Push the Guide Movement key on the teach pendant as many times as necessary
to select "Free".
(c) Step 3: Release the servo locks
While pushing down on a deadman switch, push the guide keys on the minus (-)
side to release the servo locks for the desired axes. Such axes will change over
to the servo free state.
(d) Step 4: Guide the robot
Guide the robot by hand to where you want it to go.
(e) Step 5: Set the servo locks