Operation Rights - Mitsubishi Electric CR750-Q Instruction Manual

2.3.1 Operation rights

Only one device is allowed to operate the controller (i.e., send commands for operation and servo on, etc.)
at the same time, even if several devices, such as T/Bs or PCs, are connected to the controller.This limited
device "has the operation rights".
Operations that start the robot, such as program start and error reset, and operations that can cause starting
require the operation rights. Conversely, operation that stop the robot, such as stopping and servo OFF, can
be used without the operation rights for safety purposes.
Table 2-1:Relation of setting switches and operation rights
T/B [ENABLE/DISBLE]
Setting
switch
Controller [MODE]
Operation T / B
rights
Controller operation panel
Personal computer
External signal
Note1) In "AUTOMATIC" mode, the T/B has the operation rights while displaying the <OPERATION>
screen. (The T/B's status display lamp [ENABLE] blinks)
Note2) If the controller mode is set to "AUTOMATIC" when the T/B is set to "ENABLE", the error 5000
will occur.
Note3) When the "operation right input signal (IOENA)" is input from an external device, the external
signal has the operation rights, and the personal computer's operation rights are disabled.
Table 2-2:Operations requiring operation rights
Operation
Class
Operation
Note1)
Input/output
Note2)
signal
Program edit-
ing
Note3)
File operation
AUTOMATIC
○
○
○
rights
Servo ON
○
X Servo OFF
Program start. Starting also by operation of T/B other than the controller operation panel is
○
possible.
X Program stop/cycle stop
Slot initialization (program reset)
○
X Error reset
Override change. Note this is always possible from the T/B.
○
X Override read
Program No. change
○
X Program No./line No. read
X Input/output signal read
X Output signal write
Dedicated input start/reset/servo ON/brake ON/OFF/manual mode changeover/general-pur-
○
pose output reset/program No. designation/line No. designation/override designation
X Dedicated input stop/servo OFF/continuous cycle/ operation rights input signal/ program
No.output request/line No. output request/override output request/error No. request, numeric
input
X Hand input/output signal read
Hand output signal write
○
X Line registration/read/call; Position addition/correction/read; Variable write/read
Step feed/return, execution
○
X Step up/down
Step jump, direct execution, jog
○
X Program list read/protection setting/copy/delete/rename/ initialization
: Has operation rights, X: Does not have operation rights
○
Note1)
DISABLE
MANUAL
X X
Note3) X
X
Note3)
X
Note3)
Operation item: ○ =Requires operation rights, X= Does not require operation rights
Operation
2Explanation of functions
ENABLE
AUTOMATIC MANUAL
Note2)
X
Note2)
X
Note2)
X
Note2)
X
Teaching pendant (T/B) functions 2-11
○
X
X
X