Turning Power On And Off - Yamaha RCX222 User Manual

4. Turning power on and off

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 RPB to the RPB connector on the front panel of the robot controller.
c
CAUTION
Chapter
When connecting the RPB to the robot controller, always use the dedicated
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cable and connector attached to the RPB. Do not modify this cable or
extend it by using a relay unit, etc.
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 three seconds for the controller to operate
normally.)
n
NOTE
• If the error message "Parameter destroyed" or "Memory destroyed"
• If the error message "10.21 : Sys. backup battery low voltage" appears
n
NOTE
• After turning off the robot controller, wait at least 5 seconds before
• Do not turn off the robot controller during program execution. If turned
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.
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appears on the screen when the robot controller is turned on, be sure to
initialize the parameters and memory in "SYSTEM" mode before
performing absolute reset.
Refer to '12. "SYSTEM" mode' in this chapter for detailed information.
while the power supply is turned on, replace the lithium battery (typically
4 years service life) in the robot controller.
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.
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.