Service" Mode; Operation Device; Prohibition Of "Auto" Mode Operation; Hold-To-Run Function - Yamaha RCX141 User Manual

8. "SERVICE" mode

"SERVICE" mode can be used only when "SAFE" mode is enabled.
Use "SERVICE" mode to perform safe maintenance work with the MPB while within the safety enclosure
of the robot system. This mode can be selected by turning DI02 ("SERVICE" mode) OFF.
c
CAUTION
• Use "SYSTEM" mode to select
the functions in "SERVICE"
mode. (Refer to "12.3.2 Setting
the "SERVICE" mode" in this
chapter.)
• Basically, MPB operation is only
allowed in "SERVICE" mode, so
application software (VIP/WIN,
etc.) that executes on-line
commands through the RS-232C
4
interface cannot be used, except
for cases where other operating
devices are enabled by on-line
commands made via the RS-232C.
c
CAUTION
When operating the robot without
using the safety functions explained
in sections 8.2, 8.3 and 8.4 while the
operator is still within the safety
enclosure, it is important to take even
more stringent safety precautions.
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8.1

Operation device

If operation from a device other than the MPB is permitted, the operator using the MPB
may be exposed to hazardous situations. For example:
1. When a dedicated DI start signal is turned ON without the MPB operator knowing
about it.
2. When an external device runs a robot operation command through the RS-232C
interface without the MPB operator knowing about it.
To prevent this kind of accident in "SERVICE" mode, only the MPB can be used to
operate the robot and other operation devices are disabled. However, you may add other
operation devices provided you take responsibility for your own safety.
8.2

Prohibition of "AUTO" mode operation

A major purpose for robot operation while the operator is working within the safety
enclosure is maintenance and adjustment of the robot. If a robot program is executed in
"AUTO" mode during maintenance work, the robot might move on its own with no warning
to the operator. Therefore, "AUTO" mode operation is basically prohibited in "SERVICE"
mode. However, if robot movement in a program must be checked while the operator
stays within the safety enclosure, then "AUTO" mode can be selected provided you take
responsibility for your own safety.
8.3

Hold-to-Run function

If the robot operator using the MPB should trip or fall during maintenance work, he (she)
might be exposed to a dangerous situation. To prevent this kind of accident, the Hold-to-
Run function allows the robot to move only during the time that the MPB key is kept
pressed (like a deadman switch.). However, the Hold-to-Run function can be turned OFF
provided you take responsibility for your own safety.
8.4

Limitations on robot operating speed

A major purpose of robot operation while the operator is working within the safety
enclosure is maintenance and adjustment of the robot. If a dangerous situation should
occur, the operator can easily avoid it if the robot operating speed is maintained within
250mm/sec.
The robot operating speed in "SERVICE" mode is therefore basically limited to below
3% of maximum speed. However, if the robot operating speed has to be set higher than
the safety range while the operator is still within the safety enclosure, this speed limitation
can be cancelled provided you take responsibility for your own safety.