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General safety guidelines for operating and maintaining the robot system.
Details on robot safety features like Reduced Speed, Overspeed Protection, and Enabling Device.
Guidelines to observe when working with any robot system, including area cleanliness and personnel awareness.
Specific safety precautions to follow when performing maintenance on the robot system.
Safety guidelines to follow during robot programming operations.
Explanation of the dual electrical safety circuits (Run Chains) that enable MOTORS ON mode.
Identification of parts within the controller and manipulator that carry high voltage risks.
Description of the S4 computer system components: Main, Robot, Memory, System boards, and Power Supply.
General troubleshooting steps for the computer system, including checking LEDs, error logs, and restarting.
Detailed description of each computer board in the system, including diagnostic LEDs and replacement procedures.
Step-by-step procedure for loading system software from boot disks, including prompted questions.
Procedure for loading machine-specific system parameters from disk, including resolver offsets and I/O configurations.
Procedure for updating resolver revolution counters after software installation or motor replacement.
Details on the primary voltage, transformer configuration, and various AC output voltages supplied.
Description of the Control Power Supply, its DC outputs, and how voltages are fed to computer boards.
Explanation of Run Chain 1 and Run Chain 2 circuits for manual speed modes, including stop and emergency stop functions.
Explanation of AUTO mode circuits, noting similarities to manual mode and bypassing manual stop circuits.
Description of the robot's two Emergency Stop buttons, their function, and the effects of an open circuitry.
Tracing the Emergency Stop circuitry for Run Chain 1, including control panel and teach pendant buttons.
Tracing the Emergency Stop circuitry for Run Chain 2, including control panel and teach pendant buttons.
Explanation of the Emergency Stop reset circuit using the Motors OFF push button.
Details on KM1 relay function, its contacts, and customer use terminals for energized indication.
Details on KM2 relay function, its contacts, and customer use terminals for energized indication.
Description of KM3 relay as a motors off relay, its energizing conditions, and customer use for hold off circuit.
Description of KM4 relay used for releasing robot axis brakes, its contacts, and control.
Description of the manual brake release circuit, its power source, and how pressing buttons releases brakes.
Explanation of how motors starting or program commands release brakes, and computer de-energizing KM4.
Description of the computer section: Main Computer, Memory Board, and Robot Computer.
Description of Drive System boards: Rectifier (DC-Link) and axes drive boards, including initialization checks.
Description of the AC synchronous motors, their operation via magnetic fields, and troubleshooting.
Description of the resolver, its function as a variable transformer, and troubleshooting its coils.
Description of the SMB, its function in reading resolvers, and troubleshooting.
Method for calibrating resolvers when mechanically disassembled, involving moving axes to calibration position.
Procedure for manually entering calibration values when the robot is installed or after component replacement.
Procedure for calibrating resolvers when motor replacement alignment is critical, requiring special equipment.
Procedure for updating resolver revolution counts, reasons for update, and handling errors.
Description of available I/O boards: Digital DSQC 223, Analog DSQC 209, Combined DSQC 315, Remote DSQC 239.
Explanation of how errors are displayed on the Teach Pendant: Error Code, Category, and Reason.
Categorization of error codes: Operational, System, Hardware, Program, Motion, and Operator errors.
Suggested spare parts for Axis 1, Axis 2 & 3, Lower Arm, Upper Arm, Cables, and Control.
Condition overriding controls, removing drive power, stopping motion, and removing power from dangerous functions.
Manually operated device allowing hazardous functions only when continuously activated.
Function interconnecting guards/devices with controller, allowing operation based on operator control.
Act of keeping the robot and system in proper operating condition.
Rigid fence structure surrounding robot envelope, with entry openings for authorized personnel.
Device detecting intrusion into a field or area by personal, robot, or objects.
Selectable velocity restricting robot speed for safe withdrawal or stopping.
Barrier guard, device, or safety procedure for personnel protection.
Set of instructions designed for personnel protection.
Circuit providing connections for safeguards/interlocks; requires power reset for actuators.
Robot motion control limiting velocity for safe withdrawal or stopping.
General
