YASKAWA yasnac i80m

3.5.1.27
Manual
absolute
switch
(MANUAL
ABSOLUTE)
MAN
UAL
LUTE
ABSOL
<§>
OFF
When
the
tool
is
moved
in
the
middle
of
automatic
operation
by
intervention
of
manual
operation,
this
switch
specifies
how
the
manually
moved
quantity
be
handled
when
operation
is restarted.
(1)
When
ON
When
manually
intervened,
the
program
coordinate
system
does
not
change
so
that
when
automatic
operation
is
restarted,
the
manually
moved
quantity
is
canceled
in
time
and
the
tool
is
returned
to
the
previous
locus
before
intervention
occurrs.
Movement
cancellation
is
accomplished
when
position
in
the
GOO
or
G01
mode
is
executed.
If
the
block
after
restart
is
a
circular
interpolation
(e.g.,
G02
or
G03),
the
machine
operates
while
maintaining
parallel
movement
of
locus
until
the
GOO
or
GOl-mode
command is issued.
For
blocks
in
which
execution
was
interrupted,
the
remaining
steps
are
executed
while
parallel
movement
is
left
intact
even
in
the
GOO
or
G01
mode.
E
ACTUAL
MOVEMENT
REMAININ':.
STEP
TAPE
COMMAND
MANUAL
M
OPERATION
J'
j
CIRCULAR
OÿTEMPORARV
STOP
—
:D
HOLD
I
1
CANCEL
"
OPERATION
COO
01
COI
I
FEE
Fig.
3.5.2
Manual
Absolute
Switch
ON
By
using
Pm4001
D7
It
is
possible
to
determine
whether
or
not
manual
absolute
be
turned
on
in
the
G91
mode.
]
0:
Valid
1:
Invalid
Note
however
that
even
if
G91
is
nullified
by
setting
"1"
to
this
parameter,
manual
absolute
becomes
valid when
G90
is encountered
next.
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575
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