Yamaha RCX141, Руководство пользователя

Страница: 64 / 402

4-
6
Operation
4
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 MPB to the MPB connector on the front panel of the robot controller.
2) Supply the power to the AC IN terminal on the front panel of the robot controller.
The “PWR” LED lights up and the “MANUAL” mode screen appears. (After the
“PWR” LED is lit, it will take a maximum of 3 seconds for the controller to operate
normally.)
3) When SAFE mode or serial I/O setting is enabled, the controller always starts with the
robot servo turned off. To turn on the robot servo, refer to “14. “UTILITY” mode” in
this chapter.
4) After the power is turned on, return-to-origin must be performed before starting robot
operation.
Then start the robot operation.
Refer to “11.8 Return-to-origin” in this chapter for how to perform return-to-origin.
Fig. 4-4-1 “MANUAL” mode screen
MANUAL 50%[MR][S0H0J]
–––––––––––––––––––––––––––––––––––––––––––––––––––––
Current position
M1= 0
*M4= 0
*M2= 0 *M3= 0
POINT PALLET VEL+ VEL-
c
CAUTION
When connecting the MPB to the
robot controller, always use the
dedicated cable and connector
attached to the MBP. Do not modify
this cable or extend it by using a relay
unit, etc.
n
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 return-to-origin. Refer
to “12. “SYSTEM” mode” in
Chapter 4 for detailed
information.
• If an error message “battery
degradation” appears while the
power supply is turned on, replace
the lithium battery (typically 4
years service life) in the robot
controller.
n
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.