Recovery Mode - Mitsubishi Electric RV-FR Series Instruction Manual

Recovery mode

4.2.5
The recovery mode is a function to temporarily cancel the stop state activated by the SLP safety monitoring. To
use this mode, a signal to indicate that the recovery mode is enabled must be assigned to the dedicated output.
In The Output Number for Recovery Mode in the Basic Configuration screen, configure the output number.
If the robot intrudes into a restricted area while SLP is enabled, resetting the error requires moving the robot
outside the area. However, the servo-on operation cannot be performed while the error is occurring, which makes
it impossible to operate the robot by the JOG operation.
In such a case, the recovery mode may be used. The recovery mode enables a temporary reset of the error and
operation of the robot with the TB.
<When R32TB is used>
TB configuration
TB enabled
Back of TB
(Front of TB for the R56TB)
The procedure above temporarily resets the error.
Recovery mode can be disabled using any of the following methods:
Releasing the [RESET] key or the [CAUTION] key.
①
Setting the Enable switch of the teaching pendant to DISABLE and changing the controller mode to
②
AUTOMATIC.
Displaying the JOG screen or a screen unrelated to the force sense function. (This method will only work for
③
the R32TB.)
Errors will still occur after recovery mode is disabled if they have not been resolved.
Press and hold the [RESET] key or [CAUTION] key when moving the robot in Jog operation mode.
Fig. 4-8: Output Number for Recovery Mode setting screen
: DISABLE
: ENABLE
* Lamp ON
4 SAFETY MONITORING FUNCTIONS
1) Change the controller mode to MANUAL.
2) Set the Enable switch of the teaching pendant to
ENABLE.
3) Press the [JOG] key to display the JOG screen.
When using the force sensor function, recovery
mode can be used by accessing the Force sense
function screen from the JOG screen.
4) Lightly hold the Enable switch (3-position switch).
5) For the R32TB, press and hold the [RESET] key. For
the R56TB, press and hold the [CAUTION] key.
6) Press the [SERVO] key to turn the servo on.
7) Move the robot using Jog operation.
Startup and Basic Configuration 4-21