Operation Modes - Yamaha TS-S User Manual

6. Operation modes
In addition to I/O control from a host unit (PLC, etc.), the TS series also offers communication control from
a personal computer (running the TS-Manager support software) and from Handy Terminal (HT1). In order to
use these tools in a safe manner, the desired operation mode can be selected to enable exclusive operation.
To select the operation mode, use the TS-Manager or HT1.
• Normal mode (NRM)
This mode permits both I/O control and communication control from the PC or HT1.
• Monitor mode (MON)
This mode permits full I/O control, but communication control from the PC or HT1 is limited to "monitoring" only, and
data editing is not possible. Data can be transmitted from the controller to the PC in this mode.
• Debug mode (DBG)
Communication control from the PC or HT1 is possible in this mode, but I/O control inputs are prohibited.
Operation mode functions
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Each mode and its available functions are shown below.
5
NRM mode
NRM mode (safety)
MON mode
MON mode (safety)
DBG mode
DBG mode (safety)
: Permitted
When in a mode "safety" status, the robot operation is limited to the low speed.
c
CAutIoN
• Normal mode allows operation by I/O control and communication control. However, if an operation is
attempted by one control method while operated by the other method, unexpected operation may occur or
communication may fail. use only one of these control methods in Normal mode.
• In Monitor mode, the [STOP] button on the PC software and the
robot during operation by a method other than I/o control, press the emergency stop button.
• In Debug mode, I/O control input is disabled, so the robot does not stop by interlock input. To stop the robot
during operation, use the [Stop] button on the pC software or the
stop button.
w
WARNING
thE RoBot NoRMAlly MovES At A hIGh SpEED. WhEN pERfoRMING tASkS WIthIN thE RoBot MovEMENt RANGE
oR WhEN pERfoRMING tRIAl opERAtIoNS, EtC., It IS RECoMMENDED to opERAtE thE RoBot At A loW SpEED.
thIS loW SpEED IS fACtoRy-SEt to 250MM/S pRIoR to ShIpMENt.
hoWEvER, NotE thAt thIS fuNCtIoN IS Not A SAfEty RElAtED fuNCtIoN DEfINED IN ISo13849-1.
5-46
I/O Control
Type
Input Output
: Prohibited
Communication Control
Data Transmission
Data Change
PC, HT1
PC Controller Controller
key on the ht1 are disabled. to stop the
STOP
key on the ht1, or press the emergency
STOP
Monitor Operation
PC, HT1 PC, HT1
PC