Table of Contents
xi
HW1485509
HW1485509
1.16 Mode.............................................................................................................................. 1-30
1.16.1 MANUAL (TEACH) Mode................................................................................. 1-30
1.16.2 AUTOMATIC (PLAY) Mode.............................................................................. 1-30
1.16.3 REMOTE Mode ................................................................................................ 1-30
1.17 Security Level Setting.................................................................................................... 1-31
1.17.1 Types of Security Level .................................................................................... 1-31
1.17.2 Default Security Level Passcodes.................................................................... 1-33
1.17.3 Security Level Access Information ................................................................... 1-33
1.17.4 Selecting Security Level ................................................................................... 1-34
1.17.5 Security Level Settings..................................................................................... 1-35
1.17.5.1 Changing Passcode ............................................................................ 1-35
1.17.5.2 Changing Startup Security Level......................................................... 1-36
2 Manipulator Coordinate Systems and Operations .......................................................................... 2-1
2.1 Control Groups and Coordinate System............................................................................ 2-1
2.1.1 Control Group....................................................................................................... 2-1
2.1.2 Types of Coordinate System ................................................................................ 2-2
2.2 General Operations ........................................................................................................... 2-3
2.2.1 Check Safety ........................................................................................................ 2-3
2.2.2 Select Operation Mode......................................................................................... 2-3
2.2.3 Select Coordinate System .................................................................................... 2-3
2.2.4 Select Jogging Speed .......................................................................................... 2-3
2.2.5 Servo ON.............................................................................................................. 2-4
2.3 Operation Check for Emergency Stop Buttons.................................................................. 2-5
2.4 Coordinate Frames and Manipulator Jogging.................................................................... 2-6
2.4.1 Smart Frame Mode............................................................................................... 2-8
2.4.2 Joint Mode.......................................................................................................... 2-13
2.4.3 XYZ – World Mode ............................................................................................. 2-14
2.4.4 XYZ - Tool Mode ................................................................................................ 2-15
2.4.4.1 Selecting Tool ....................................................................................... 2-16
2.4.5 XYZ - User Frame Mode .................................................................................... 2-17
2.4.5.1 Selecting User Frame............................................................................ 2-17
2.4.6 Hand Guiding Mode ........................................................................................... 2-18
2.4.6.1 ALL JOINTS .......................................................................................... 2-19
2.4.6.2 TOOL JOINTS....................................................................................... 2-19
2.4.6.3 XYZ + TOOL ......................................................................................... 2-20
2.4.7 Motion at Robot TCP.......................................................................................... 2-21
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