System Setup
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9.26.3.1 Full speed mode
The full speed mode is the mode to perform a test run or a forward/backward operation of
the JOB at the taught speed during the TEACH mode.
When the S-FST signal is turned ON during the TEACH mode, the full speed mode is
activated.
When the full speed mode is selected, the SERVO power is turned OFF, and then the
manual speed setting is automatically switched to the inching mode. In the same way, when
the enable switch is released in the full speed mode, the manual speed setting is
automatically switched to the inching mode.
The operation speed while the mode is set to the full-speed test mode is specified as follows
according to the manual speed setting.
Note that the operation speed limit values in the above table are the percentages with
respect to the robots maximum speed, not with respect to the taught speed. These are
specified in order to control the operation speed so that it does not exceed the robots
maximum speed during a test run or a forward/backward operation.
CAUTION!
When using the full-speed test function, the robot moves at a high speed. Thus, make sure
to secure a place where the operator can visually check the robots movement in the area
outside the robots operating range and perform operations by using the programming
pendant from that place.
9.26.3.2 Switching display of system and user section
1. Operation for switching display.
By pressing [PAGE] shown on the programming pendant and selecting the USER or
SYSTEM, the display of the system and user section of the safety logic circuit can be
switched.
SYSTEM: The system section of the safety logic circuit is shown.
USER: The user section of the safety logic circuit is shown.
Manual speed operation
speed limit (initial value)
Parameter (unit: 0.01%)
Inching 20% S1CxG60 (initial value: 2000) Limited to 250 mm/s
Low 50% S1CxG61 (initial value: 5000)
Mid 75% S1CxG62 (initial value: 7500)
High 100% (fixed value) -
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