Service Mode; What Is Service Mode - Omron SCARA YRC Series Supporting Supplement Manual

1.4
This section describes SERVICE mode.
1.4.1
SERVICE mode is used to perform work using the PB within the safety enclosure of the robot system.
This mode is enabled only when the controller is set to SAFE mode. The CE marking compliant controllers are set to
SAFE mode at the time when they are shipped.
2
CAUTION
The CE marking compliant controllers are always set to SAFE mode.
SERVICE mode includes AUTO and MANUAL modes in the basic operation mode, and is selected by opening (turning
OFF) the DI02 contact (SERVICE mode input). Normal mode is maintained as long as the DI02 contact is closed (ON).
If a serial I/O option board is installed, SERVICE mode is entered when either one of SI02 or DI02 is open (OFF).
(Normal mode is entered only when both SI02 and DI02 contacts are closed.)
When the DI02 contact is open (OFF), the controller is in SERVICE mode with the operation level, operating speed
limit, and exclusive control of the operating devices specified by the SERVICE mode parameters. The following
functions can be selected in SERVICE mode.
1. Robot is controlled only by PB operation.
2. Automatic operation is prohibited.
3. Robot operating speed is set to below 3% of the maximum speed.
4. Robot operation is possible only by hold-to-run control.
(The Hold-to-Run function allows the robot to move (including program execution) only during the time that the PB operation
key is kept pressed.)
In SAFE mode setting, therefore, the operations in AUTO mode and MANUAL mode differ from those in normal mode,
depending on the SERVICE mode parameter settings.
WARNING
RESTRICTION ON THE ROBOT MOVING SPEED IS NOT A SAFETY-RELATED FUNCTION. TO REDUCE THE RISK OF
COLLISION BETWEEN THE ROBOT AND WORKERS, THE USER MUST TAKE THE NECESSARY PROTECTIVE MEASURES
SUCH AS ENABLE DEVICES ACCORDING TO RISK ASSESSMENT BY THE USER.
NOTE
• The robot pauses when the SERVICE mode input is changed during program operation or jog movement.
• The NPN/PNP specifications for DI02 are determined as follows:
• Current capacity of at least 7mA is required for DI02 input.
• When the YRC controller is set to SAFE mode, it always enters the SERVICE mode state unless power is supplied to STD.DIO
from the external 24 V power supply. To cancel this state by software, set the "Watch on STD.DIO DC24V" parameter to
"INVALID".
2-6

SERVICE mode

What is SERVICE mode?

Basic operation mode
"SERVICE" mode
"AUTO" "MANUAL"
mode mode
YRC Determined by STD.DIO setting.
Basic operation modes
"PROGRAM" "SYSTEM"
mode mode
"DI/DO
"UTILITY"
monitor"
mode
mode