Robot Operating Method When Hand Guiding Device Disconnected - YASKAWA DX200 Instructions Manual

7 Troubleshooting
7.2

Robot Operating Method When Hand Guiding Device Disconnected

7.2 Robot Operating Method When Hand Guiding Device
Disconnected
When the hand guiding device is not connected, the external emergency
stop signal is always open and becomes in an emergency stop state.
When operating the robot in the state that the hand guiding device is
disconnected, follow the procedures below to short-circuit the emergency
stop signal.
When the hand guiding device is connected again, make sure to remove
the jumper lead, and then the connection of the external emergency stop
signal is returned to the initial state.
To undo the wiring, refer to chapter 2.4 "Connection for Hand Guiding
Device" .
1. Turn OFF the controller power supply, and short-circuit 5 (EXESP1+)
and 6 (EXESP1-), 7 (EXESP2+) and 8 (EXESP2-) of the machine
safety terminal block board (JANCD-YFC22-E) in the controller with
the jumper lead.
2. Turn ON the controller again.
The emergency stop signal is a short-circuit state, and then the robot
operation will be available.
After the hand guiding device is connected, make sure to press the
emergency stop button of the hand guiding device before operating the
manipulator to confirm that the servo power is turned OFF.
When the servo power is turned OFF, the SERVO ON LED on the
programming pendant is turned OFF.
If an operation of the manipulator cannot be stopped in an emergency,
that may result in injury or device damage.
WARNING
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