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3Controller
1) POWER switch......................................This turns the control power ON/OFF.
2) START button.......................................This executes the program and operates the robot. The program is run continuously.
3) STOP button .........................................This stops the robot immediately. The servo does not turn OFF.
4) RESET button.......................................This resets the error. This also resets the program's halted state and resets the program.
5) Emergency stop switch.....................This stops the robot in an emergency state. The servo turns OFF.
6) T/B remove switch.............................This is used to connect/disconnect the T/B without turning OFF the controller's control
7) CHNGDISP button ..............................This changes the details displayed on the display panel in the order of "Override" → "Pro -
8) END button ............................................This stops the program being executed at the last line or END statement.
9) SVO.ON button ....................................This turns ON the servo power. (The servo turns ON.)
10) SVO.OFF button................................ This turns OFF the servo power. (The servo turns OFF.)
11) STATUS NUMBER
(display panel) ......................................The alarm No., program No., override value (%), etc., are displayed.
12) T/B connection connector ..........This is a dedicated connector for connecting the T/B.
13) Personal computer
connection connector.......................This is an RS-232C specification connector for connecting the personal computer.
14) MODE key switch..............................This changes the robot's operation mode.
AUTO (Op.) ..................................Only operations from the controller are valid. Operations for which the operation mode
TEACH...........................................When the T/B is valid, only operations from the T/B are valid. Operations for which the
AUTO (Ext.) .................................Only operations from the external device are valid. Operations for which the operation
15) UP/DOWN button.............................This scrolls up or down the details displayed on the "STATUS. NUMBER" display panel.
16) Power cable clamp ...........................Fix the primary power cable.
CAUTION
Names of each part
3-86
power.
gram No." → "Line No.".
must be at the external device or T/B are not possible.
operation mode must be at the external device or controller are not possible.
mode must be at the T/B or controller are not possible.
Note) The servo will turn OFF when the controller's [MODE] switch is changed.
Note that axes not provided with brakes could drop with their own weight.
Carry out the following operations to prevent the servo from turning OFF
whenthe [MODE] switch is changed.
The servo on status can be maintained by changing the mode with keeping pressing
lightly the deadman switch of T/B. The operating method is shown below.
■ When the mode is changed from TEACH to AUTO.
1) While holding down the deadman switch on the T/B, set the [ENABLE/DISABLE]
switch to "DISABLE".
2) While holding down the deadman switch on the T/B, set the controller [MODE]
switch to "AUTO".
3) Release the T/B deadman switch.
■ When the mode is changed from AUTO to TEACH.
1) While the [ENABLE/DISABLE] switch on the T/B is "DISABLE", hold down the
deadman switch.
2) While holding down the deadman switch on the T/B, set the controller [MODE]
switch to "TEACH".
3) While holding down the deadman switch on the T/B, set the [ENABLE/DISABLE]
switch to "ENABLE", then do the operation of T/B that you wish.
Note)
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