Yamaha RCX40, Руководство пользователя

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Operation
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8. “SERVICE” mode
“SERVICE” mode can be used only when “SAFE” mode is eneble.
Use “SERVICE” mode to perform maintenance work using the MPB safely within the safety enclosure of
the robot system. This mode can be selected by turning DI02 (“SERVICE” mode) OFF.
8.1 Operation device
If operation from a device other than the MPB is permitted, the operator using the MPB
may be exposed to a hazardous situation. For example:
1. When a dedicated DI start signal is turned ON without the MPB operator knowing
about it.
2. When an external device runs a robot operation command through the RS-232C
interface without the MPB operator knowing about it.
To prevent this kind of accident in “SERVICE” mode, only the MPB can be used to
operate the robot and other operation devices are disabled. However, you may add other
operation devices provided you take responsibility for your own safety.
8.2 Prohibition of “AUTO” mode operation
A major purpose for robot operation while the operator is working within the safety
enclosure is maintenance and adjustment of the robot. If a robot program is executed in
“AUTO” mode during maintenance work, the robot may move on its own with no warning
to the operator. Therefore, “AUTO” mode operation is basically prohibited in “SERVICE”
mode. However, if robot movement in a program must be checked while the operator
stays within the safety enclosure, then “AUTO” mode can be selected provided you take
responsibility for your own safety.
8.3 Hold-to-Run function
If the robot operator using the MPB should trip or fall during maintenance work, he (she)
may be exposed to a dangerous situation. To prevent this kind of accident, the Hold-to-
Run function allows the robot to move only during the time that the MPB key is kept
pressed. However, the Hold-to-Run function can be turned OFF provided you take
responsibility for your own safety.
8.4 Limitations on robot operating speed
A major purpose of robot operation while the operator is working within the safety
enclosure is maintenance and adjustment of the robot. If a dangerous situation should
occur, the operator could easily avoid it if the robot operating speed was maintained within
250mm/sec.
Therefore, the robot operating speed in “SERVICE” mode is basically limited to below
3% of maximum speed. However, if the robot operating speed has to be set higher than
the safety range while the operator is still within the safety enclosure, this speed limitation
can be cancelled provided you take responsibility for your own safety.
c
CAUTION
• Use “SYSTEM” mode to select
the functions in “SERVICE”
mode. (Refer to “12.3.2 Setting
the “SERVICE” mode” in this
chapter.)
• Basically, only the MPB
operation is allowed in
“SERVICE” mode, so application
software (VIP/WIN, etc.) that
executes on-line commands
through the RS-232C interface
cannot be used, except for cases
where on-line commands through
the RS-232C are set usable as
operation devices.
c
CAUTION
When operating the robot without
using the safety functions explained
in sections 8.2, 8.3 and 8.4 while the
operator is still within the safety
enclosure, it is important to take even
more sufficient safety precautions.