Yamaha CEmarking RCX221, Supporting Supplement Manual

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Chapter 3 SYSTEM OVERVIEW
3.4.3.1 SERVICE mode level
The SERVICE mode level can be selected to enable or disable the Hold-to-Run function
and to permit or prohibit the operation in AUTO mode.
The Hold-to-Run function allows the robot to move (including program execution) only
during the time that the RPB-E operation key is kept pressed.
Setting
Description
Hold-to-Run function AUTO mode operation
Level 0 Disabled Permitted
Level 1 Enabled Permitted
Level 2 Disabled Prohibited
*
Level 3 Enabled Prohibited
* Default setting
3.4.3.2 Limitations on operating speed during SERVICE mode
The maximum robot operating speed can be specified.
Setting Description
*
< 3%
Robot operating speed is limited to below 3% of maximum
speed.
< 100% Robot operating speed is not limited.
*Default setting
3.4.3.3 Operation device control during SERVICE mode
The operation device can be specified.
Setting Description
*
RPB Only RPB-E operation is enabled.
RPB/DI RPB-E and dedicated input are enabled.
RPB/COM RPB-E and online commands are enabled.
ALL
RPB-E, dedicated input, and online command operation
device are enabled.
*Default setting
c
CAUTION
Dedicated input is SI when a serial board is connected.
3.4 SERVICE mode