ABB PickMaster Twin - PowerPac Applications Manual page 288

4 Working with PickMaster PowerPac
4.3.11 Managing the robot in production
Continued
Robot states
The robot can be in different states.
State
Running
Paused
Emergency State
Stopped
Stopping and resuming the robot
It is possible to stop a robot during runtime.
Click a robot icon in the Production tab and select action from the popup menu.
If more than one robot is connected to a controller (MultiMove):
Emergency stop
In case of emergency:
288
• Restart from stopped state must be performed at the same time for all robots.
To do this, right-click the controller icon in the production tab and select
Restart Robots.
• Stopping one robot will also stop the other robots on the same robot
controller.
1 Press the emergency stop button on the robot controller or the FlexPendant
to stop the robot immediately.
This sets the controller in emergency state and a warning is displayed on
the FlexPendant and in PickMaster PowerPac and Runtime.
2 Fix the problem.
3 Release the emergency button.
4 Then acknowledge and reset the emergency state on the FlexPendant or
using the popup menu before you restart the robot.
CAUTION
Emergency stop should not be used for normal program stops as this causes
extra, unnecessary wear on the robot.
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Description
The robot can pick and place items.
The robot is paused in motors off state, or the RAPID program
has stopped.
The robot is in emergency stop state.
The robot is stopped, that is no items are handled by the robot
or distributed to the robot.
Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B