Yamaha RCX40, Руководство пользователя

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18
Operation
4
7. Mode configuration
The robot operation mode consists of the following modes.
“SERVICE” mode
Basic operation modes
“AUTO”
mode
“MANUAL”
mode
“PROGRAM”
mode
“SYSTEM”
mode
“DI/DO
monitor”
mode
“UTILITY”
mode
“SERVICE” mode can be used only when “SAFE” mode is enabled.
7.1 Basic operation modes
Robot operation is classified into 5 basic modes as follows.
(1) “SERVICE” mode (only when “SAFE” mode is enabled)
(2) “AUTO” mode
(3) “PROGRAM” mode
(4) “MANUAL” mode
(5) “SYSTEM” mode
Among these modes, “SERVICE” mode can be selected with DI02 and other modes with
the function keys.
(1) “SERVICE” mode
“SERVICE” mode is used to perform maintenance work using the MPB safely within
the safety enclosure of the robot system. This mode includes “AUTO” and “MANUAL”
modes in the basic operation mode, and can be selected by turning DI02 (“SERVICE”
mode) OFF. The following functions are selected in “SERVICE” mode.
• Robot is controlled only by MPB operation.
• Automatic operation is prohibited.
• Robot operating speed is set to below 3% of the maximum speed.
• Robot operation is possible only by hold-to-run control.
(2) “AUTO” mode
Select this mode to execute robot programs. Robot programs can be executed only in
this mode. Operable tasks in this mode differ depending on the parameter settings in
“SERVICE” mode.
c
CAUTION
The “SYSTEM” mode is used to
select the “SERVICE” mode
functions. (Refer to “12.3.2 Setting
the “SERVICE” mode” in this
chapter.)