5-391 Warm-Up Operation Mode
5Functions set with parameters
In the warm-up operation status, because the robot operates at a speed lower than
the originally specified speed, be sure to apply an interlock with peripheral units.
If the operating duty of the target axis is low, a servo error such as an excessive dif-
ference error may occur even when the warm-up operation mode is enabled.
In such a case, change the program, and lower the speed as well as the acceleration/
deceleration speed.
Also, when STATUS NUMBER on the controller's front panel is set to override display in the warm-up oper-
ation status, an underscore (_) is displayed in the second digit from the left so that you can confirm the
warm-up operation status.
Fig.5-4:Override Display in the Warm-Up Operation Status
When a target axis operates and the warm-up operation status is canceled, the robot operates at the speci-
fied speed. Note that the joint section cools down at a low temperature if the robot continues to stop after the
warm-up operation status is canceled. Therefore, if a target axis continues to stop for a prolonged period
(the setting value at shipment from the factory is 60 min), the warm-up operation status is set again and the
robot operates at a reduced speed.
Note 1: When powering off the controller and then powering on again, if the power-off period is short, the
temperature of the robot's joint section does not decrease too much. Therefore, when powering off
the controller and then powering on again after the warm-up operation status is canceled, if the
power-off period is short, the robot starts in the normal status instead of the warm-up operation sta-
tus.
Note 2: A target axis refers to the joint axis that is the target of control in the warm-up operation mode. It is
the joint axis specified in the WUPAXIS parameter.
CAUTION
CAUTION
Normal Status Warm-Up Operation Status
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