5 Playback
5.3 Stop and Restart
5-8
HW1485509
HW1485509
5.3.2.1 Emergency Stop
Press the Emergency Stop button.
The servo power turns off and the manipulator stops immediately.
– Emergency Stop button on the YRC Controller
(some models do not have this button)
– Emergency Stop button on the Smart Pendant
The Emergency Stop icon will appear on the Status Bar.
Fig. 5-3: Emergency Stop Icon
5.3.2.2 Release
Turn the Emergency Stop button in the direction of the arrows.
Emergency Stop button should lift up and indicator on Status Bar should
disappear. To turn the servo power supply ON again, press [SERVO] ON.
If the system is in MANUAL (TEACH) mode, make sure to also grip the
Enable switch.
5.3.2.3 Restart After an Emergency Stop
5.3.3 Stop by Alarm
If an alarm occurs during operation, the manipulator stops immediately
and the ALARM pop-up window appears on the Smart Pendant indicating
that the machine was stopped by an alarm. Follow the instructions shown
on the screen to release the alarm.
To display the ALARM pop-up window again during alarm occurrence,
press the Alarm icon on the status bar. To view previous alarms that are
currently inactive, select {ALARM HISTORY} under {MENU}.
For more information, go to chapter 15 “Alarm” .
CAUTION
• Prior to restarting operations after an Emergency Stop, confirm the
position of the manipulator and make sure that there is no
interference between the manipulator and its workspace.
• If an Emergency Stop is performed during a high-speed operation
involving consecutive steps, the manipulator may stop two or three
steps before the displayed step. If operations are restarted under
such conditions, the manipulator may interfere with its workspace.
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