Yamaha RCX240, User Manual

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Chapter 4 OPERATION
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Chapter 4 OPERATION
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4. Turning power on and off
This section explains how to turn power on and off, assuming that the external emergency stop
circuit and other necessary units are connected according to the instructions in Chapter 3,
"INSTALLATION", and also that the robot controller operates correctly.
1
Connect the RPB to the controller.
Connect the RPB connector to the RPB connector (RPB) on the front panel of the robot
controller.
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CAUTION
When connecting the RPB to the robot controller, always use the dedicated cable
and connector attached to the RPB. Do not modify this cable or extend it by using a
relay unit, etc.
2
Supply the power to the AC IN terminal on the front panel of the robot
controller.
The "PWR" LED lights up and "MANUAL" mode screen appears. (After the "PWR" LED is lit,
it will take a maximum of 3 seconds for the controller to operate normally.)
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NOTE
• If an error message "Parameter destroyed" or "Memory destroyed" appears on
the screen when the robot controller is turned on, be sure to initialize the
parameters and memory in "SYSTEM" mode before performing absolute reset or
return-to-origin.
Refer to "12. "SYSTEM" mode" in this chapter for detailed information.
• If an error message "10.21 : Sys. backup battery low voltage" appears while the
power supply is turned on, replace the lithium battery (typically 4 years service
life) in the robot controller.
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NOTE
• After turning off the robot controller, wait at least 5 seconds before turning the
power back on again. If power is turned on again too quickly after the power
was turned off, the controller might not start up correctly.
• Do not turn off the robot controller during program execution. If turned off, this
causes errors in the internal system data and the program may not restart
correctly when the power is again turned on. Always quit or stop the program
before turning off the robot controller.
3
Turn on the servo.
When SAFE mode or serial I/O setting is enabled, the controller always starts with the
robot servo turned off. To turn on the servo, refer to "14. "UTILITY" mode" in this chapter.
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NOTE
When the "Servo on when power on" parameter is set to "INVALID", the controller
always starts with the robot servo turned off when power is turned on, regardless of
SAFE mode and serial I/O settings. For more details, refer to "12.1.5 Other
parameters" in this chapter.
4. Turning power on and off