Yamaha CEmarking RCX221, Supporting Supplement Manual

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Chapter 3 SYSTEM OVERVIEW
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3.4.2 Flow for enabling the SERVICE mode functions
• Controller is set to SAFE mode.
• SERVICE mode parameters have been set.
• Open (turn OFF) the DI02 contact.
(If a serial I/O option board is installed, SERVICE mode is entered when either
one of SI02 or DI02 is open (OFF).)
• Controller enters SERVICE mode with the operation level, operating speed limit,
and exclusive control of the operation devices specified by the SERVICE mode
parameters.
Refer to the next section for the SERVICE mode parameter settings.
3.4.3 SERVICE mode parameter settings
There are the following three parameters for SERVICE mode.
1. SERVICE mode level
2. Operating speed limit during SERVICE mode
3. Operation device control during SERVICE mode
These parameter settings determine the operation level, operating speed limit, and
exclusive control of the operation devices during SERVICE mode.
Even after editing the SERVICE mode parameters, the present settings still remain enabled
until the controller power is turned off unless the edited parameters are saved.
For how to set the SERVICE mode parameters, refer to the controller user's manual.
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WARNING
CHANGING THE SERVICE MODE PARAMETERS FORM THEIR DEFAULT SETTINGS IS
LIKELY TO INCREASE THE RISK TO PERSONNEL OPERATING OR MAINTAINING
THE ROBOT. THESE PARAMETERS CAN BE CHANGED IF THE CUSTOMER ASSUMES
RESPONSIBILITY, BUT EXTRA CAUTION SHOULD BE TAKEN TO ENSURE SAFETY.
3.4 SERVICE mode