2 Manipulator Coordinate Systems and Operations
2.3 Operation Check for Emergency Stop Buttons
2-5
HW1485509
HW1485509
Once servos’ power is turned ON in MANUAL (TEACH) mode, jogging
operations on the robot can be performed. Jogging can be accomplished
using various methods in different coordinate frames. These are
described in chapter 2.4 “Coordinate Frames and Manipulator Jogging”.
2.3 Operation Check for Emergency Stop Buttons
Before operating the manipulator, perform the following operations to
ensure the Emergency Stop buttons on both the YRC Controller (some
models do not have this button) and Smart Pendant are functioning
correctly.
1. Press the {SERVO} on the touch screen.
– The {SERVO} turns orange when the servo power supply is turned
ON.
2. Press Emergency Stop button.
– The Emergency Stop button is on the YRC1000 (some models do
not have this button) or the Smart Pendant.
3. Confirm servo power is turned OFF
– When the Emergency Stop button is pressed and the servo power is
turned OFF, the {SERVO} will be deactivated (grayed out).
– After confirming the step above, turn the Emergency Stop button to
release it.
4. Press {SERVO} on the touch screen again, and grip the Enable
Switch.
– The servo power can be turned ON by gripping the Enable Switch
when the {SERVO} is in orange. The {SERVO} will turn to green and
the [SERVO] status LED will turn ON. Verify that servo power turns
off when the Enable Switch is released or when the Enable Switch is
squeezed tightly as described in chapter 2.2.5 “Servo ON”.
WARNING
When the Smart Pendant (JZRCR-APP30-1) is used, the Emergency
Stop output signals (ESPOUT1 & ESPOUT 2) do not interface with the
Smart Pendant’s Emergency Stop button. Therefore, when configuring
a safety circuit externally using the Emergency Stop output, confirm
safety beforehand and make it an appropriate circuit configuration.
Refer to chapter 1.7.7 “Emergency Stop Output” for further detail.
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