Yamaha RCX40, User Manual

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Operation
12. “SYSTEM” mode
12.3.2 Setting the “SERVICE” mode
When using “SERVICE” mode to safely perform tasks with the MPB within the robot
system safety enclosure, make parameter settings and set the mode level as explained in
this section.
Parameter settings made here are only valid until the controller power is turned off, unless
those settings are saved.
“SERVICE” mode is enabled or disabled by input through the SAFETY interface.
There are 3 parameters for “SERVICE” mode.
1. “SERVICE” mode level
Select the mode level by referring to the table below.
Level 3
Prohibited Disabled
Level 2
Allowed Enabled
Level 1
Allowed Disabled
Level 0
AUTO mode operation Hold to Run function
Description
Enabled Prohibited
*
* The Hold to Run function indicates that the robot operation (including program
execution) is executed only when the keys are held down on the MPB.
2. Operating speed limits in “SERVICE” mode
Specify the maximum robot operating speed.
Description
Sets robot operation within 3 % of maximum operating speed.
Sets no limit on robot operating speed.
<3%
<100%
*
3. Operating device during “SERVICE” mode
Specify the operating device to use.
ALL
MPB/COM
MPB/DI
MPB
Description
Only MPB operation is allowed.
Allows MPB and dedicated input.
Allows MPB and online commands.
Allows MPB, dedicated input and online command operation devices.
*
* : These are default settings.
n
NOTE
The “SERVICE” mode functions can
only be utilized when the necessary
settings were made by YAMAHA prior
to shipping.
w
WARNING
In “SERVICE” mode, changing
the settings from their default
values is likely to increase
hazards to the robot operator
during maintenance or
operation. Customers can
change these settings based on
their own responsibility, but
adequate consideration should
first be given to safety.
c
CAUTION
The dedicated input is SI when the
serial board is connected.