OPERATION
Arc-WorldLite 50 System Manual
5-4
MOTO
MAN
5.3
System Recovery
Under certain conditions you will be required to clear an alarm or error. Clearing
an alarm or error requires different operator actions depending on the type.
Different types of alarms and errors are described below.
5.3.1
Alarms and Errors
Alarms and errors will cause the program to stop. There are three levels of alarms
and errors: Error Messages, Minor Alarms, and Major Alarms. For more detailed
information about alarm recovery, refer to manipulator manual that came with
your system.
Error Messages
These are simple errors such as pressing the START button when the robot is not in
PLAY mode, or enabling the programming pendant without the servo power being
live. Errors like these are cleared by pressing the CANCEL button on the
programming pendant.
Minor Alarms
Minor alarms are usually programming errors. Minor alarms might occur if a circle
has been programmed with fewer than three circular points, etc. These alarms are
cleared by pressing the RESET (F5) soft key on the programming pendant.
Major Alarms
Major alarms are hardware failures. Major alarms might occur because of a servo
tracking error or an abnormal speed and are usually associated with crashes. To
clear these alarms, you must turn off the controller and then turn it on again.
5.3.2
E-STOP Recovery
An E-STOP can occur under any of the following conditions:
•
Pressing an E-STOP button on the operator station, programming pendant, or
playback box.
•
Actuating the shock sensor on torch mount.
To restart the system after an E-STOP condition occurs, proceed as follows:
1. Clear E-STOP condition by performing any of following actions that apply:
•
Release the E-STOP button on the operator station, programming
pendant, or XRC playback box.
•
Clear Shock Sensor condition (see Section 5.3.3).
2. Job Continuation
a) If job execution can continue from the last programmed point without
further E-STOPS, PLAY mode and REMOTE mode must be set and then
the operator door must be cycled.
b) If robot must be manually taught to avoid further collisions, depress the
TEACH and SERVO ON push buttons to manually jog the robot to home
position before resuming play mode operation.
The Arc-WorldLite 50 cell is now ready to continue operation.
