Enabling And Disabling The Robot; Robot High Power Operations - Omron i4-350L User Manual

4 Operation
4-4

Enabling and Disabling the Robot

Enabling the robot energizes all robot servo motors with the 48 VDC power supply. This is also refer-
red to as enabling High Power. When the robot is enabled, it is capable of moving.
Program execution and I/O control functions are still operational when High Power is disabled. Howev-
er, ATTACH or other motion commands may return errors or delay program execution if High Power is
disabled. Refer to the V+ Keyword Reference Manual (Cat. No. I672) for more information.
Disabling the robot de-energizes all robot servo motors.
Additional Information
When High Power is enabled, the brake is automatically released. When High Power is disa-
bled, the brake is automatically activated to prevent downward motion of the quill due to gravity.
Precautions for Safe Use
• The LED indicator does not reflect the robot's High Power status. To see the robot's High
Power status, use the Front Panel indicator or a user-supplied indicator connected to the XFP
connector.
• High Power cannot be enabled unless all safety circuits are satisfied.
4-4-1

Robot High Power Operations

Robot High Power operations are described below.
High Power Safety Timeout
If the safety timeout function is enabled in the robot configuration, the High Power indicator on the
Front Panel will flash for a specified amount of time after a High Power request is made. If the High
Power button is not pressed within the specified amount of time, a safety timeout occurs and High
Power is not applied.
The safety timeout function is enabled by default and has a duration set for 10 seconds. The safety
timeout function configuration settings are accessed with the Sysmac Studio. Refer to the Sysmac
Studio Robot Integrated System Building Function with Robot Integrated CPU Unit Operating Manual
(Cat. No. W595) for more information.
Precautions for Correct Use
If a Front Panel is not present, the High Power indicator and High Power button signals can be
accessed with the XFP system cable connector. Refer to XFP Connections on page 3-37 for
more information.
High Power and Faults
If a fault is present, the robot will not enter the High Power state.
The AUTO.POWER.OFF system switch controls if the robot prevents or disables High Power for spe-
cific errors. Refer to the V+ Keyword Reference Manual (Cat. No. I672) for more information.
4-8
i4L Robots with EtherCAT User's Manual (I659)