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2.2.1 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
Note 1) 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.
Note 2) If the [MODE] switch is set to "AUTOMATIC" when the T/B is set to "ENABLE", the error 5000 will
occur.
Table 2-2:Operations requiring operation rights
Operation
Class
Operation
Input/output
signal
Program edit-
ing
Note1)
File operation
Maintenance
operation
Note1) When one device is being used for editing on-line, editing from other devices is not possible.
AUTOMATIC
○
○
○
rights
○
Servo ON
X
Servo OFF
○
Program stop/cycle stop
X
Slot initialization (program reset)
○
Error reset
X
Override change. Note this is always possible from the T/B.
○
Override read
X
Program No. change
○
Program No./line No. read
X
Program stop/cycle stop
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
X
Parameter read, clock setting/read, operation hour meter read, alarm history read
○
Origin setting, parameter change
○
:Has operation rights, X:Does not have operation rights
DISABLE
MANUAL
X
X
Note 1)
X
Note 1)
X
Note 1)
X
Operation item: ○ =Requires operation rights, X= Does not require operation rights
Operation
2Explanation of functions
ENABLE
AUTOMATIC
MANUAL
Note 2)
X
Note 2)
X
Note 2)
X
Note 2)
X
Teaching pendant (T/B) functions 2-10
○
X
X
X
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