Service" Mode; Operation Device; Prohibition Of "Auto" Mode Operation; Hold-To-Run Function - Yamaha RCX240 User Manual

8. "SERVICE" mode

8. "SERVICE" mode
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"SERVICE" mode can be used only when "SAFE" mode is enabled.
Use "SERVICE" mode to perform safe maintenance work with the RPB while within the safety
enclosure of the robot system. This mode can be selected by turning DI02 (SERVICE mode input)
OFF.
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c
CAUTION
• use "sYsteM" mode to select the functions in "service" mode. (refer to "12.3.2
• basically, rpb operation is only allowed in "service" mode, so application
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8.1

Operation device

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If operation from a device other than the RPB is permitted, the operator using the RPB may be
exposed to hazardous situations. For example:
1. When a dedicated input start signal is turned ON without the RPB operator knowing about it.
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2. When an external device runs a robot operation command through the RS-232C interface
without the RPB operator knowing about it.
To prevent this kind of accident in "SERVICE" mode, only the RPB 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.
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8.2

Prohibition of "AUTO" mode operation

A major purpose for robot operation while the operator is working within the safety enclosure is
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maintenance and adjustment of the robot. If a robot program is executed in "AUTO" mode during
maintenance work, the robot might 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.
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8.3

Hold-to-Run function

If the robot operator using the RPB should trip or fall during maintenance work, he (she) might be
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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 RPB key is kept pressed (like a deadman switch.).
However, the Hold-to-Run function can be turned OFF provided you take responsibility for your
own safety.
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Chapter 4 OPERATION
Setting the "SERVICE" mode" in this chapter.)
software (VIP/WIN, etc.) that executes on-line commands through the RS-232C
interface cannot be used, except for cases where other operating devices are
enabled by on-line commands made via the RS-232C.