System Operation - YASKAWA ArcWorld 50 System Manual

ArcWorld 50/50S/52/52S

1.4.2 System Operation

1 Introduction
1.4 System Overview and Variations
• Check all programs, safety functions, and cell interactions before
operating in an automatic operation.
Failure to observe this warning may result in death or serious injury.
Place the ArcWorld into automatic operation by completing the following:
1. Close the interlocked work-cell access door.
2. Select the {MASTER} job on the Programming Pendant.
3. Press the [SERVO ON] button on the Programming Pendant.
4. From the Main Menu choose {JOB} then {AUTO}.
5. Press the [START] button on the Programming Pendant to begin the
execution of the {MASTER} job.
Normal cell production begins with the assumption that the Robot is in the
home position. FSU Zones and Axis Range Limits ensure that the Robot
operates in areas that are clear of potential human presence.
• If the cell is an ArcWorld 50S or ArcWorld 52S:
When a station is open (or not fully closed) the dual channel safety
switch in the barrier door reports this condition to the FSU which puts
the system into "Standstill Monitoring" mode. This prevents the
headstock at the corresponding station from moving.
• If motion of the headstock is detected the entire system will go
into an E-STOP condition and can only be recovered after the
source of the fault is addressed.
• If the Robot enters a station that is open while in PLAY mode, the
entire cell goes into an E-STOP condition. Recovery from this
E-STOP condition can be done by closing the barrier door (via I/O
or cycle start button) or changing to TEACH mode and jogging
the Robot out of this station.
• If anything obstructs the movement of the door, a barrier door control
fault occurs and triggers a Controller alarm.
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