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OPERATION
6. Press the CYCLE START button on operator station. The CYCLE
LATCHED light comes on. The robots finish welding and return to Safe
Position (Cube 23 and Cube 24). After welding cycle is completed, the
positioner sweeps returning welded parts outside cell and placing newly
loaded, unwelded parts in the robot work area.
7. Unload welded parts from fixture.
5.2.7
Shutdown
Use the following procedure to shut down the ArcWorld IV-6200 XHD DR2C cell
after operation is complete:
1. Make sure robots are in Safe position.
2. Turn off system servo power by pressing E-STOP button on operator station,
programming pendant, or R1 controller playback panel.
3. Press TEACH mode button on playback panel.
4. Set the XRC POWER service disconnect switch to the OFF position.
5. Set both service disconnect switches (R1 POWER SOURCE and R2
POWER SOURCE) to the OFF position for each welding power source.
6. Close regulator valve on welding gas supply.
7. Turn off air supply
The ArcWorld IV-6200 XHD DR2C cell is now shut down.
5.3
System Recovery
Under certain conditions you will be required to clear an alarm or error. The
paragraphs below describe the different types of alarms and errors you may
encounter and how to remedy them when you do.
5.3.1
Alarms and Errors
Alarms and errors will cause the program to stop. There are three levels of alarms
and errors: Error Messages, Minor Alarms, and Major Alarms. For more detailed
information about alarm recovery, refer to manipulator manual that came with
your system.
Error Messages
These are simple errors such as pressing the START key when the robots are not in
PLAY mode, or enabling the programming pendant when servo power is OFF.
Clear these errors by pressing the CANCEL key on the programming pendant.
Minor Alarms
Minor alarms are usually programming errors. Minor alarms might occur if a circle
has been programmed with fewer than three circular points, etc. Clear these alarms
by selecting RESET on the programming pendant.
Major Alarms
Major alarms are hardware failures. Major alarms might occur because of a servo
tracking error or an abnormal speed and are usually associated with crashes. To
clear these alarms, turn off the controller and then turn it on again.
See Table 5-3 and Table 5-4 for User and Alarm Messages.
ArcWorld IV-6200 XHD DR2C System Manual
5-10
MOTOMAN
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