Shock Sensor Recovery - YASKAWA Motoman ArcWorld IV-6200 XHD DR2C System Manual

OPERATION
a) Release E-STOP key on operator station, programming pendant, or R1
b) Step out of light curtain.
c) Clear Shock Sensor condition (see Section 5.3.3).
2. Press SERVO ON READY key on operator station, programming pendant, or
playback panel.
3. Ensure operator station is enabled.
4. Press START button on the operator station.
The ArcWorld IV-6200 XHD DR2C cell will now continue operation.
5.3.3

Shock Sensor Recovery

The ArcWorld welding package includes a Motoman gun mount. This mount is
designed to protect the torch from damage in case of a crash. A slight deflection of
the torch activates a SHOCK SENSOR message which triggers an E-STOP
condition. To clear the E-STOP condition, you must override the shock sensor and
move the robot(s) clear of the impact. To override the shock sensor, proceed as
follows:
WARNING!
Some feeders have a Shock Sensor Override Switch. It is possible to
crash the robot if the Shock Sensor Override Switch is left in the
Override position. Always remember to reactivate the Shock Sensor
Override Switch (when applicable) before continuing system
operation.
In TEACH mode:
1. Press TOP MENU on programming pendant.
2. Select ROBOT icon using cursor keys and press SELECT.
3. Cursor to OVERRUN-S.SENSOR and press SELECT key.
4. Select RELEASE to release shock sensor.
5. Select ALARM RESET.
6. Turn servo power ON by holding ENABLE switch on the programming
pendant and pressing SERVO ON.
NOTE: TEACH LOCK must be ON to turn servo power on in TEACH mode.
7. Move manipulator clear of impact position.
8. Cursor to CANCEL, press SELECT to release Shock Sensor Override.
9. Press TOP MENU to exit.
The ArcWorld IV-6200 XHD DR2C cell is now ready to continue operation.
ArcWorld IV-6200 XHD DR2C System Manual
controller playback panel.
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