CRS F3, User Manual

Page: 81 / 128

Chapter 7: Commissioning the Robot 67
99-05-31
Checking All E-Stops
Use the procedure below to check each E-Stop device to verify that it works.
Note: Striking an E-Stop button does not remove power to the servo
gripper. As a safety feature, motor power to the gripper is maintained
in this situation to not release the payload.
Before you begin:
•
Ensure that the controller is powered on, the operating system has
booted up and the application shell has been started.
To check E-Stops:
1. Reset all the E-Stops to complete the E-Stop circuit. The E-Stop buttons
on the controller and on the teach pendant are reset by twisting until
they spring out.
2. Turn on arm power at the arm power switch, located near the upper right
corner of the front panel of the controller. You should hear a click from
the arm as the brakes release and the controller relays activate. The LED
in the arm power switch is now continuously lit and the arm power
beacon on the robot is flashing.
3. One at a time, test each stop or equivalent safety mechanism. Standard
E-Stops are: front panel E-Stop, teach pendant E-Stop, and live-man
switch. Additional E-Stops or equivalent devices may be connected
through the SYSIO connector.
a. Trigger an emergency stop by striking the E-Stop button, opening an
interlocked door, interrupting a light beam, stepping on the pressure-
sensitive mat, etc.
b. When you strike the E-Stop, you should hear a click from the arm
and the controller representing engagement of brakes and
disengagement of relays. Check that both the LED in the arm power
switch and the arm power beacon on the robot are off.
c. Reset the E-Stop.
d. Turn on arm power.
e. Repeat steps a to d until all E-Stops and equivalent safety
mechanisms are checked.
Scheduling Regular Checking of E-Stops
Establish a schedule of regular checks of E-Stops and other safety measures
throughout the operating life of the robot system.