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3.6.6
Interlocked Cell Door
A safety interlock on the cell entrance door prevents entry into the cell during
PLAY mode. Opening the cell door with the robot in PLAY causes servo power to
be removed and brakes applied to the robot. All positioner motion is stopped. To
turn servos back on and resume job, proceed as follows:
1. Shut the cell door.
2. Turn servos back on either at the operator station or at the playback panel.
3. Press START either at the operator station or at the playback panel.
3.6.7
Interference Cubes
Cubic interference zones prevent interference between multiple manipulators or a
manipulator and peripheral devices. The controller monitors the robot tool center
point (TCP) during operation. If the TCP enters one of the these software-defined
interference zones, an output is turned on in the controller. These outputs can be
used to interlock the activity of other manipulators or peripheral devices. The
controller has 24 possible cubes available. These cubes are internally tied to the
following Specified Outputs:
The ArcWorld IV-6200 XHD DR2C uses interference cubes to interlock robot
position with positioner motion. The robot Home or Safe position (Cube 23 and
Cube 24) is defined behind the positioner, clear of the sweep zone. Before the
positioner can sweep, the robot must be in this safe position.
3.6.8
Brake Release
WARNING!
Releasing brakes could cause personal injury or machine damage.
Always support the axis to be released BEFORE you release it.
The Brake Release Control is a safety feature that releases the automatic brakes on
the robot in case of an emergency or robot failure. The Brake Release Control is
mounted on the front of the controller cabinet (see Figure 3-1). Refer to Section
5.3.4 for the proper operation of the brake release.
MOTOMAN
SOUT #081 - 104
3-15
ArcWorld IV-6200 XHD DR2C System Manual
EQUIPMENT DESCRIPTION
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