Yamaha RCX240, Руководство пользователя

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Chapter 4 OPERATION
14. "UTILITY" mode
Chapter 4 OPERATION
4-313
14.1 Canceling emergency stop; Motor power and servo on/off
14.1.1 Canceling emergency stop
Emergency stop must be cancelled to turn the servo on and operate the robot again in the following
cases.
(1) When the emergency stop button was released after pressing the emergency stop button.
(2) When the switch contact was closed after triggering emergency stop by opening the
emergency stop input contact.
1
Press ( + ) to enter "UTILITY" mode.
The display changes to the "UTILITY" mode screen and a confirmation message appears
on the guideline.
ＵＴＩＬＩＴＹ
Ｄａｔｅ，Ｔｉｍｅ ： ０８／０６／２０，１８：５９：３７ （ ３６°Ｃ）
ｍｏｔｏｒ ｐｏｗｅｒ： Ｏｆｆ
Ｓｅｑｕｅｎｃｅ ： ＤＩＳＡＢＬＥ
Ａｒｍｔｙｐｅ ： ＲＩＧＨＴＹ
Ｃａｎｃｅｌ ｅｍｅｒｇｅｎｃｙ ｆｌａｇ？ ＹＥＳ ＮＯ
Canceling emergency stop
2
Press (YES) to cancel the internal emergency stop flag.
The internal emergency stop flag is cancelled. You can then move on to the next
operation explained in 14.1.2, "Motor power and servo on/off".
If not canceling the internal emergency stop flag, press (NO).
14.1.2 Motor power and servo on/off
This is usually used with the motor power turned on.
This operation is performed after emergency stop has been cancelled or when turning the servo on/
off temporarily in order to perform direct teaching.
w
WARNING
THE BRAkE FOR THE BRAkE-EqUIPPED AXIS CAN BE RELEASED BY PRESSING THE
(FREE) kEY. HOWEVER, RELEASING THE BRAkE OF THE VERTICAL AXIS OF THE VERTICAL
USE ROBOT WILL CAUSE THE AXIS TO SLIDE DOWN, CAUSING A HAzARDOUS
SITUATION.
• After pressing tHe eMergencY stop button, prop up tHe verticAl Axis witH
A SUPPORT STAND BEFORE RELEASING THE BRAkE.
• be cAreful not to let Your bodY get cAugHt between tHe verticAl Axis
AND INSTALLATION BASE WHEN RELEASING THE BRAkE TO PERFORM DIRECT TEACH.