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5Functions set with parameters
2) To Use the Warm-Up Operation Mode
To use the warm-up operation mode, enable its function with parameters. The function can also be enabled
or disabled with a dedicated input signal.
*Specifying with a Parameter
To enable the warm-up operation mode with a parameter, set 1 in the WUPENA parameter. After changing
the parameter, the warm-up operation mode is enabled by powering on the controller again. In the following
cases, however, the warm-up operation mode will not be enabled even if 1 is set in the WUPENA parame-
ter.
• When 0 is set in the WUPAXIS parameter (a target axis in the warm-up operation mode does not exist)
• When 0 is set in the first element of the WUPTIME parameter (the warm-up operation status period is 0
min)
• When 100 is set in the first element of the WUPOvrd parameter (the speed is not decreased even in the
warm-up operation status)
When using the warm-up operation mode, change these parameters to appropriate setting values.
Note: For robots other than the RV-SD series, the setting value of the WUPAXIS parameter at shipment
from the factory has been set to 0. When using the warm-up operation mode, specify a target axis in
the warm-up operation mode (the joint axis to be the target of control in the warm-up operation mode;
for example, a joint axis that generates an excessive difference error when operating in a low temper-
ature environment).
*Switching with a Dedicated Input Signal
By assigning the MnWUPENA (n = 1 to 3: mechanism number) dedicated input signal, the warm-up opera-
tion mode can be enabled or disabled without powering on the controller again. Also, the current enable/dis-
able status can be checked with the MnWUPENA (n = 1 to 3: mechanism number) dedicated output signal.
Note 1:In order for the dedicated input signal above to function, it is necessary to enable the warm-up oper-
ation mode in advance by setting the parameters described previously.
Note 2:This dedicated input signal requires the operation right of external I/O. Also, no input is accepted
during operation or jog operation.
Note 3:The enable/disable status specified by this dedicated input signal is held even after the control right
of external I/O is lost.
3) When the Warm-Up Operation Mode Is Enabled
When the warm-up operation mode is enabled, powering on the controller enters the warm-up operation
status.
In the warm-up operation status, the robot operates at a speed lower than the actual operation speed by
applying a warm-up operation override to the specified speed. The operation speed is gradually returned to
the specified speed as the operation time of a target axis elapses. When the warm-up operation status is
canceled, the robot will start operating at the specified speed.
*Initial Status Immediately After Power On
When the warm-up operation mode is enabled, powering on the controller enters the warm-up operation
status.
However, when powering off the controller and then powering on again after the warm-up operation status is
canceled, if the power-off period is short, the robot starts in the normal status instead of the warm-up opera-
tion status as the temperature of the robot's joint section has not been lowered much from power-off. To be
specific, the robot starts in the normal status if the following condition is satisfied:
Condition: The robot starts in the normal status if the time during which a target axis continues to stop from
the cancellation of the warm-up operation status to powering on is shorter than the time specified
in the second element of the WUPTIME parameter (the resume time of the warm-up operation
status).
Note that if the warm-up operation mode is switched to be enabled with the MnWUPENA (n = 1 to 3: mech-
anism number) dedicated input signal, the warm-up operation status is always set.
5-393 Warm-Up Operation Mode
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