Safety Circuit Check; Robot Safe (Cube 23 And Cube 24) Position - YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual

OPERATION
9. Make sure the air supply reads 0.04 cmm at 620.5 kPa (1.5 scfm at 90 psi).
10. Set ENABLE/DISABLE switch on operator station to DISABLE.
11. Press TEACH mode button on controller playback panel of R1 controller.
12. Place robots in Safe position (Cube 23 and Cube 24).
5.2.2

Safety Circuit Check

Test each of the following safety circuit items daily for proper operation. If any of
these items does not work as instructed, contact Motoman service staff at (937)
847-3200 before operating the cell.
Gate Interlock
Open gate interlock while robot is in PLAY mode with servo power ON. Verify
that servo power goes off.
Emergency Stop (E-Stop) Buttons
Press each E-Stop button with the robot in PLAY mode and the servo power ON.
After each button is pressed, verify that servo power goes off and the programming
pendant reads "Robot is Stopped."
Headstock (side A/B) In-position Switch
1. Put controller in TEACH mode.
2. Turn servo power on.
3. Rotate headstock (side A/B) out of Home position.
4. Block the light curtain. Verify that servo power goes off.
5. Turn servo power on.
6. Return positioner to the programmed position.
Trunion In-positIon Switch
1. Put controller in TEACH mode.
2. Turn servo power on.
3. Rotate trunion out of Home position.
4. Block the light curtain. Verify that servo power goes off.
5. Turn servo power on.
6. Return positioner to the programmed position.
5.2.3

Robot Safe (Cube 23 and Cube 24) Position

To move the robots to the Safe position (Cube 23 and Cube 24), proceed as
follows:
1. Press TEACH mode button on controller playback panel.
2. Press TOP MENU on programming pendant.
3. Select JOB icon using cursor keys and press SELECT.
4. Cursor to SELECT JOB and press SELECT key.
5. Using cursor keys, move cursor to R1R2 Safe job and press SELECT. The
R1R2 Safe job appears on display screen.
6. Turn servo power ON by pressing SERVO ON, TEACH LOCK, and holding
in the ENABLE switch.
7. Use INTERLOCK and FWD keys on programming pendant to jog robot to
Safe position.
ArcWorld IV-6200 XHD DR2C System Manual 5-8 MOTOMAN