Motor Power And Servo On/Off - Yamaha RCX141 User Manual

n
NOTE
When using a PHASER series robot,
noise is emitted for 0.5 to 2 seconds
during the first servo-on after turning
the power on. This is just the routine
pre-action for obtaining information
needed to control the robot and is not
a problem.
c
CAUTION
At axes with brakes, the brake can be
released by pressing the
F 8
key ( key in controller versions
F 3
prior to Ver. 8.66). Use particular care
with regard to heavy up/down vertical
axes, as they may drop when the
brake is released.
n
NOTE
In controller versions prior to Ver. 8.66,
the (Free) key is used to free an
F 3
axis (release brake).
14.1.2

Motor power and servo on/off

This is usually used with the motor power turned on.
This operation is performed after emergency stop has been cancelled or when turning the
servo on/off temporarily in order to perform direct teaching.
[Procedure]
1) Press the
F 1
2) Press the
F 1
Press the
F 2
Press the
F 6
Fig. 4-14-4 Servo on/off
UTILITY>MOTOR
motor power: Off
On
3) Press the
ESC
mode.
4) To set the servo of each axis to "On", "Off" or "Free", select the axis with the
cursor (↑/↓) keys.
When setting the servo to "On", the servo power for the axis must be turned on
beforehand by the operation in step 2.
Fig. 4-14-5 Setting the servo of each axis
UTILITY>MOTOR
motor power : On
Servo
(Free)
5) Set the servo status with the
(MOTOR) key in "UTILITY" mode.
(On) key to turn on the motor power supply and servo.
(Off) key to turn off the motor power supply and servo.
(Power) key to turn on the motor power supply only.
D1=M1: Brake
D2=M2: Brake
D3=M3: Brake
D4=M4: Brake
Off
key to return to the mode selected just previous to "UTILITY"
D1=M1 :Free
D2=M2 :Servo
D3=M3 :Servo
D4=M4 :Servo
Brake
(Servo),
F 1
14. "UTILITY" mode
D5=M5: no axis
D6=M6: no axis
D5=M5 :no axis
D6=M6 :no axis
(Brake) or (Free) key.
F 2 F 8
4
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