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12. "SYSTEM" mode
12.3.2
When using "SERVICE" mode to safely perform tasks with the RPB 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.
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NOTE
Chapter
The "SERVICE" mode functions can only be utilized when the necessary
4
settings were made by YAMAHA prior to shipping.
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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.
There are three parameters for "SERVICE" mode.
1.
"SERVICE" mode level
Select the mode level by referring to the table below.
*
* The Hold to Run function indicates that the robot operation (including
4-216
Setting the "SERVICE" mode
Hold to Run function
Level 0
Level 1
Level 2
Level 3
program execution) is executed only when the keys are held down on
the RPB.
Description
AUTO mode operation
Disabled
Enabled
Disabled
Enabled
Allowed
Allowed
Prohibited
Prohibited
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