System Setup
9 - 320
9.29 Axes detachment function
With the axes detachment function, the connection of a specific axis can be disabled under
the MAINTENANCE mode. In the case of setup or motor replacement where no axis is
physically connected, by connecting the dummy connector (HW1471285-A) and enabling
the axes detachment, the system can be started without any alarm from the specified axes.
9.29.1 Connecting the dummy connector
By referring to the INSTRUCTIONS of each robot, disconnect the encoder connector of the
desired axis from the multi-port connector in the robot and connect the dummy connector
to the multi-port connector.
CAUTION!
Failure to observe this instruction may cause improper or unintended movement of
the robot, which may result in personal injury.
Always set the teach lock before starting teaching.
Observe the following precautions when performing teaching operations within the P-point
maximum envelope of the robot:
Be sure to perform lockout by putting a lockout device on the safety fence when going
into the area enclosed by the safety fence. In addition, the operator of the teaching
operation must display the sign that the operation is being performed so that no other
person closes the safety fence.
View the robot from the front whenever possible.
Always follow the predetermined operating procedure.
Always keep in mind emergency response measures against the robots unexpected
movement toward a person.
Ensure a safe place to retreat in case of emergency
CAUTION!
If operation of the robot cannot be stopped in an emergency, personal injury and/or
equipment damage may result.
Before operating the robot, make sure the SERVO power is turned OFF by performing the
following operations. When the SERVO power is turned OFF, the SERVO ON LED on the
PP is turned OFF.
Press the emergency stop buttons on the PP, on the external control device, etc.
Disconnect the safety plug of the safety fence (when in the PLAY mode and the
REMOTE mode).
If the dummy connector is connected to a wrong port, or if the axes detachment is
performed without connecting the dummy connector, the following alarm normally occurs
when the control power supply is turned ON. In this case, immediately turn OFF the control
power supply and connect the dummy connector to the correct port.
AL1380: ENCODER ADDRESS VERIFY ERROR
The dummy connector is necessary only for the encoders of the robot.
9.29.2 Setting MAINTENANCE mode
Start the maintenance mode and set the security mode to the safety mode (Refer to chapter
9.28 "Robot detachment function"
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