Disconnecting The Tpb From The Ercx Controller; Different Points From Srcx And Drcx Controllers - Yamaha ERCX Series User Manual

4-1-2 Disconnecting the TPB from the ERCX controller

The TPB can be disconnected from the controller regardless of whether the power is on or off. There
is no problem even when the robot is operating.
When the TPB will be left disconnected from the controller for a long period of time, we recommend
attaching the RS-232C connector dust cover (supplied) to the TPB connector on the controller.

4-1-3 Different points from SRCX and DRCX controllers

The SRCX and DRCX controllers have an ESC switch (used to connect or disconnect the TPB from
the controller) on the front panel of the controller, but the ERCX does not have it.
Because of this, the robot servo may turn off when the TPB is connected or disconnected from the
controller. (The status LED that is lit in green changes to green/red blinking.) If this happens, per-
form the servo recovery processing with the TPB (according to the menu that automatically appears
in the AUTO mode operation) or execute the servo recovery command (SERVO) through the I/O
port. This allows the robot to restart the normal operation.
If a problem occurs in the system when the servo is turned off, try connecting and disconnecting the
TPB as illustrated below. This will prevent the robot servo from being turned off. Use caution not to
deform the connector pins when connecting and disconnecting the TPB.
Connecting the TPB
First plug in the lower part of the connector as shown, and then slowly insert the entire connector in place.
TPB Conncter
Disconnecting the TPB
Disconnect while pulling from the upper part of the TPB
4-1 Connecting and Disconnecting the TPB
TPB connector
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