OPERATOR’S MANUALseries Robot Controller
3.3 Guide Mode
The guide mode comes in three (3) modes; JOG, INCHING and FREE.
• In the JOG mode, while the guide key is being pressed in the direction of any axis,
the robot moves in the selected coordinate system at a selected speed and in the
axis direction. This mode is useful for rough positioning of the robot to get it
near the target position.
• In the INCHING mode, every time the guide key is pressed in the direction of any
axis, the robot moves in the selected coordinate system by the amount of
selected movement in the axis direction. This mode is useful for fine positioning
of the robot from near the target position to the target position.
• In the FREE mode, any axis's servo lock is cancelled to move the robot by hand.
This mode is useful for delicate positioning of the robot to bring the robot near the
workpiece or other object.
(1) Function
Selects the manual guide mode.
(2) Procedures
(a) Step 1: Teaching mode selection.
Press the MODE switch on the control panel to select "TEACHING."
(b) Step 2: Guide mode selection.
Each time the REMOTE key on the teach pendant is pressed, JOG, INCHING
and FREE are selected in turn with the appropriate LED illuminated. The
initial setting is JOG.
(3) Caution
When the guide mode is changed from FREE to JOG or INCHING, servo lock
is effected on all axes.
STE 80720
– 3-4 –
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