User`s manual

Operation
4
4-4
4. Operation
4.2.2 Making a test run using "TOP" software for RD series
Jog can be run from a PC. During this jog operation, wiring checks can be made for the
robot driver, robot and power supply because no outside connections to the I/O
connector are needed. For details, refer to the TOP (software for RD series) user's
manual.
There are two types of jog operation: (1) normal jog performed at a specified speed and
(2) pulse feed jog that moves a distance equal to a specified number of pulses.
Each of these is explained below.
Note 1: Do not input any signals through the I/O connector including the SON
terminal during this operation. Doing so runs the operation according to the
input terminal.
Note 2: In this jog operation, the robot moves at an acceleration/deceleration time of
0 seconds and the current settings for control gain and speed limit
parameters.
Note 3: This jog operation cannot be used simultaneously with the TOP monitor
display.
Note 4: When a PHASER series robot is used, magnetic pole position estimation must
be performed before this operation. For information on magnetic pole
position estimation,refer to section 5.17, "Magnetic pole position estimation
action".
(1) Operation in normal jog
In normal jog, the robot moves at a constant speed specified by the speed command
until a stop command is input.
After starting the TOP (software for RD series), run the jog operation as explained
below.
1) After connecting the TOP to the robot driver, click the [Test Run and Adjustment] button on
the opening screen.
(Click the [Jogging] tab.)
2) Enter the speed command for jog operation.
3) Check safety and then click the button that indicates the direction to move the robot.
(The robot will start moving in the specified direction.)
4) Click the [Stop] button to stop operation.
Note: The robot moves during this operation, so check safety before starting
operation.