Installation manual

Appendix 1
Appendix 1-2
Arm Condition Classification
＜STOP＞
Brake-stop ･･････(a)
Axis control servo-lock (Axis feedback) ･･････(b)
RMRC servo-lock (Axis feedback) ･･････(c)
＜IN MOTION＞：Shifts to stop after moving with one motion command.
Axis control (Axis feedback) ･･････(d)
RMRC control (RMRC feedback) ･･････(e)
＜IN MOTION MODE＞：Control is not changed until termination command is issued.
Axis velocity control mode (Axis feedback) ･･････(f)
RMRC velocity control mode (RMRC feedback) ･･････(g)
Redundant axis control mode (RMRC feedback) ･･････(h)
Direct control mode (torque control, axis feedback) ･･････(i)
Axis real-time control mode (axis feedback) ･･････(j)
RMRC real-time control mode (RMRC feedback) ･･････(k)