Chapter 6: Basic Operation 55
99-04-23
Warning! Support the link. Limping will release the joint. The link will fall due to gravity.
Failure to support the link can result in damage to the arm, tooling, or work pieces.
b. Press F2 for Yes. The joint limps.
Warning! Be careful when entering the robot arm workspace. Even though the joint
is limp, arm power is ON. Hold the arm near the wrist to move the joint by hand.
Caution! Do not move the joint too forcefully. The harmonic drive is back-drivable.
This allows you to rotate the joints and have that motion transferred back through the
drives to the motors. Excessive force, when positioning the arm by hand, may over-
stress the drives.
6. Press the joint’s negative (–) axis key. The servo engages and holds the joint in
position.
039:Confirm: ON
Limp robot axis?
Axis 3: Elbow?
1no 2yes
039:Confirm: ON
Limp robot axis?
Axis 2: Shoulder?
1no 2yes
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