6 Start-up
6.0.1 Inspection before start-up
3HAC 16245-1 A 139
Chapter 6: Start-up
6.0.1 Inspection before start-up
General Perform the following checks before starting up the robot system:
Check: 1. The controller mains section is protected with fuses.
2. The electrical connections are correct and correspond to the identification plate
on the controller.
3. The teach pendant and peripheral equipment are properly connected.
4. That limiting devices that establish the restricted space (when utilised) are
installed.
5. The physical environment is as specified.
6. The operating mode selector on the operator’s panel is in the Manual mode posi-
tion.
7. When external safety devices are used, check that these have been connected
or that the following circuits in either XS3 (connector on the outside left cabinet
wall) or X1-X4 (screw terminals on the panel unit) are strapped:
Device XS3 Panel unit
External limit switches A5-A6, B5-B6 X1.3-4, X2.3-4
External emergency stop A3-A4, B3-B4 X1.9-10, X2.9-10
External emergency stop internal 24 V A1-A2, B1-B2 X1.7-8, X2.7-8
General stop + A11-A12, B11-B12 X3.10-12, X4.10-12
General stop - A13-A14, B13-B14 X3.7-8, X4.7-8
Auto stop + A7-A8, B7-B8 X3.11-12, X4.11-12
Auto stop - A9-A10, B9-10 X3.7-9, X4.7-9
Motor off clamping A15-A16, B15-16 X1.5-6, X2.5-6
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