TM Palletizing Operator User’s Manual Product Version: 1.0 / Document Version: 1.0 165
Recovering from Emergency Stop
Scenario: How to recover from Emergency Stop?
Steps:
1) Release all emergency switches
2) Press the Reset Button when the button light is on.
3) Wait 10 seconds to enter the Safe Start Up Mode. The Indication Light Ring will turn light blue. The
joints of the robot are still in the state without driving power.
4) Press the FREE button continuously to release the joint axis brake and move the robot.
5) After the situation is resolved, press the Stop Button on the Robot Stick or Teach Pendant for
about three seconds. The robot will perform the calibration during startup process and return to the
original operating mode.
CAUTION:
All personnel should be outside of the robot’s operational space (areas that robot
can reach) when recovering from the emergency stop.
Resume from Safeguard Stop Status
Scenario: The Safeguard is a safety mechanism that detects conflicting signals from a dual channel input.
When a discrepancy occurs, the system will enter and be locked in a safety status of Cat. 1 Stop. To resume
from the safety status, follow the steps below:
Steps:
1) Release all Safeguard switches
2) Press the Reset Button when the button light is on.
3) Let the dual inputs open and close again. At this time, the robot arm will be re-powered. The
Indication Light Ring will have the light blue light on to indicate the Safe Start up mode.
4) Press the Stop Button on the stick or pendant for about three seconds. The robot will perform the
calibration action of the start-up process and return to the previous operating mode.
Error Messages
1. “Working pallet disappear cause pause”
Situation: The pallet sensor did not detect the working pallet normally.
Reset Procedure: Make sure the sensor detect the working pallet normally, then press “Start” to continue
2. “Layer Protection! Please remove Right/Left side pallet box cause PAUSE”
Situation: The project paused to prevent robot from hitting the opposite working pallet boxes.
Reset Procedure: Clear the full state of the pallet and press “Start” to continue.
3. “No box detected on gripper, cause PAUSE”
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