ABB PickMaster Twin - PowerPac, Applications Manual

Page: 288 / 454

Robot states
The robot can be in different states.
Description State
The robot can pick and place items. Running
The robot is paused in motors off state, or the RAPID program
has stopped. Paused
The robot is in emergency stop state. Emergency State
The robot is stopped, that is no items are handled by the robot
or distributed to the robot. Stopped
Stopping and resuming the robot
It is possible to stop a robot during runtime.
Click a robot icon in the Production tab and select action from the popup menu.
If more than one robot is connected to a controller ( MultiMove ):
• Restart from stopped state must be performed at the same time for all robots.
To do this, right-click the controller icon in the production tab and select
Restart Robots .
• Stopping one robot will also stop the other robots on the same robot
controller.
Emergency stop
In case of emergency:
1 Press the emergency stop button on the robot controller or the FlexPendant
to stop the robot immediately.
This sets the controller in emergency state and a warning is displayed on
the FlexPendant and in PickMaster PowerPac and Runtime.
2 Fix the problem.
3 Release the emergency button.
4 Then acknowledge and reset the emergency state on the FlexPendant or
using the popup menu before you restart the robot.
CAUTION
Emergency stop should not be used for normal program stops as this causes
extra, unnecessary wear on the robot.
288 Application manual - PickMaster® Twin - PowerPac
3HAC064218-001 Revision: B
© Copyright 2021 ABB. All rights reserved.
4 Working with PickMaster PowerPac
4.3.11 Managing the robot in production
Continued