Yamaha RCX240, Руководство пользователя

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Chapter 4 OPERATION
12. "SYSTEM" mode
Chapter 4 OPERATION
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12.3.2 Setting the "SERVICE" mode
When using "SERVICE" mode to safely perform tasks with the RPB 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.
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NOTE
The "SERVICE" mode functions can only be utilized when the necessary settings were
made by YAMAHA prior to shipping.
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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.
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CAUTION
The dedicated input is SI when the serial board is connected.
There are 3 parameters for "SERVICE" mode.
1. "SERVICE" mode level
Select the mode level by referring to the table below.
Description
Hold to Run function AUTO mode operation
Level 0 Disabled Allowed
Level 1 Enabled Allowed
Level 2 Disabled Prohibited
Level 3 (default setting) 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 RPB.
2. Operating speed limits in "SERVICE" mode
Specify the maximum robot operating speed.
Description
<3% (default setting)
Sets robot operation within 3 % of maximum operating
speed.
<100% Sets no limit on robot operating speed.
3. Operating device during "SERVICE" mode
Specify the operating device to use.
Description
RPB (default setting) Only RPB operation is allowed.
RPB/DI Allows RPB and dedicated input.
RPB/COM Allows RPB and online commands.
ALL
Allows RPB, dedicated input and online command
operation devices.