Mode Configuration; Basic Operation Modes - Yamaha RCX240 User Manual

7. Mode configuration

The robot operation mode consists of the following modes.
"SERVICE" mode
"AUTO"
mode
"SERVICE" mode can be used only when "SAFE" mode is enabled.
7.1

Basic operation modes

Robot operation is classified into 5 basic modes as follows.
(1) "SERVICE" mode (only when "SAFE" mode is enabled)
(2) "AUTO" mode
(3) "PROGRAM" mode
(4) "MANUAL" mode
(5) "SYSTEM" mode
Among these modes, "SERVICE" mode can be selected with DI02 (SERVICE mode input)
and other modes with the function keys.
(1) "SERVICE" mode
"SERVICE" mode is used to perform maintenance work using the RPB safely within the safety
enclosure of the robot system. This mode includes "AUTO" and "MANUAL" modes in the basic
operation mode, and can be selected by turning DI02 (SERVICE mode input) OFF. The following
functions are selected in "SERVICE" mode.
1. Robot is controlled only by RPB operation.
2. Automatic operation is prohibited.
3. Robot operating speed is set to below 3% of the maximum speed.
4. Robot operation is possible only by hold-to-run control.
c
CAUTION
The "SYSTEM" mode is used to select the "SERVICE" mode functions. (Refer to "12.3.2
Setting the "SERVICE" mode" in this chapter.)
(2) "AUTO" mode
Select this mode to execute robot programs. Robot programs can be executed only in this mode.
Operable tasks in this mode differ depending on the parameter settings in "SERVICE" mode.
Basic operation modes
"MANUAL"
"PROGRAM" "SYSTEM"
mode
mode
7. Mode configuration
"DI/DO
"UTILITY"
monitor"
mode
mode
Chapter 4 OPERATION
mode
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