YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual page 26

EQUIPMENT DESCRIPTION
EMERGENCY STOP (E-STOP)
Pressing an E-STOP button or interrupting a door interlock stops all system
operation. Brakes are applied to the robot and all servo power is removed from the
system. The system E-STOP lights illuminate and all positioner motion is stopped.
The operator station E-STOP, the robot E-STOP, and the sliding door interlocks are
connected in series in the Emergency Stop circuit.
HOLD
The HOLD button is a normally closed, momentarily actuated switch. Pressing the
HOLD button stops the operation of the manipulator and positioner until another
start signal is sent. The indicator light stays ON only while the HOLD button is
pressed. Operation resumes at the point in the program where the HOLD state was
initiated. Refer to the manipulator manual for more information.
CYCLE LATCHED
CYCLE LATCHED indicates that the positioner will sweep and begin to weld
immediately after the current weld cycle is complete.
The CYCLE LATCHED lamp illuminates when the positioner CYCLE START
command has been latched. It is not necessary to wait for the robots to finish
welding and return to the Home position (Cube 23 and Cube 24) before pressing
the CYCLE START button to sweep the positioner. Pressing the CYCLE START
button while either robot is still in motion locks the CYCLE START command into
the controller. The CYCLE LATCHED light will illuminate on the operator
station, indicating CYCLE START latching. The positioner sweeps after the robots
finish the current job and return to the Home position (Cube 23 and Cube 24).
Stepping into the light curtain area will unlatch the CYCLE START command
from the controller.
ALARM
The ALARM lamp illuminates when either robot encounters an alarm condition or
when servo power is cut.
POSITIONER AUTO/MANUAL
The POSITIONER AUTO/MANUAL selector switch is used to select
AUTOMATIC or MANUAL mode for the positioner. The selector switch is
connected to robot Input #10. When the selector switch is in the AUTOMATIC
position, the robot will complete the weld cycle after the positioner sweeps. In
MANUAL mode, the robot does not process the part after the positioner sweeps,
but remains in the Home position.
NOTE: The Positioner Auto/Manual command is dependent on the structure of the Master job.
START
The robot will start the current active job (on the pendant) when START button is
pressed. The operator station must be enabled and servo power ON for the START
button to work. The START button is connected to the robot external start input.
OPERATOR STATION ENABLE/DISABLE
The OPERATOR STATION ENABLE/DISABLE selector switch transfers
primary control of the ArcWorld cell from the controller to the operator station.
The REMOTE MODE button on the controller playback panel illuminates when
the operator station is enabled. Most pendant functions are disabled while in
REMOTE.
ArcWorld IV-6200 XHD DR2C System Manual 3-8 MOTOMAN