OPERATOR’S MANUALseries Robot Controller
3.6 Servo Free
(1) Function
In the FREE mode, it is possible to cancel a servo lock of any axis to make it
servo-free. The axis thus set servo-free can be moved by hand. This mode
is useful for delicate positioning of the robot to bring the robot near the
workpiece or other object.
(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.
Press the REMOTE key on the teach pendant to select "FREE". Make sure
that the FREE LED is illuminated.
(c) Step 3: Servo lock cancel.
Press the minus (–) key for an axis whose servo locked condition is to be
canceled with the servo being turned on.
(d) Step 4: Guidance.
The axis whose servo locked condition was canceled enters a servo-free
status. Now the robot can be guided by hand.
(e) Step 5: Servo lock.
Press the plus (+) key for the axis whose servo locked condition is canceled
with the servo being turned on. Then the servo-free axis enters a
servo-locked status.
STE 80720
– 3-7 –
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