Setting The "Service" Mode - Yamaha RCX141 User Manual

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NOTE
The "SERVICE" mode functions can
only be utilized when the necessary
settings were made by YAMAHA prior
to shipping.
w
WARNING
In "SERVICE" mode, changing
the settings from their default
values is likely to increase
hazards to the robot operator
during maintenance or
operation. Customers can
change these settings based on
their own responsibility, but
adequate consideration should
first be given to safety.
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CAUTION
The dedicated input is SI when the
serial board is connected.
12.3.2

Setting the "SERVICE" mode

When using "SERVICE" mode to safely perform tasks with the MPB within the robot
system safety enclosure, make parameter settings and set the mode level as explained in
this section.
Parameter settings made here are only valid until the controller power is turned off, unless
those settings are saved.
"SERVICE" mode is enabled or disabled by input through the SAFETY interface.
There are 3 parameters for "SERVICE" mode.
1. "SERVICE" mode level
Select the mode level by referring to the table below.
Level 0
Level 1
Level 2
Level 3
*
* The Hold to Run function indicates that the robot operation (including program
execution) is executed only when the keys are held down on the MPB.
2. Operating speed limits in "SERVICE" mode
Specify the maximum robot operating speed.
<3% Sets robot operation within 3 % of maximum operating speed.
*
Sets no limit on robot operating speed.
<100%
3. Operating device during "SERVICE" mode
Specify the operating device to use.
MPB
Only MPB operation is allowed.
*
MPB/DI
Allows MPB and dedicated input.
MPB/COM
Allows MPB and online commands.
ALL Allows MPB, dedicated input and online command operation devices.
* : These are default settings.
Description
Hold to Run function
Disabled
Enabled
Disabled
Enabled
Description
Description
12. "SYSTEM" mode
AUTO mode operation
Allowed
Allowed
Prohibited
Prohibited
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