Yamaha CEmarking RCX221, User Manual

Page: 85 / 468

4-17
Chapter
4
OPERA
TION
6.1 Emergency stop reset
To return to normal operation after emergency stop, emergency stop must be reset.
n
NOTE
• Emergency stop can also be triggered by an emergency stop input from
the SAFETY I/O interface. To cancel this emergency stop, refer to Chapter 6.
• Origin positions are retained even when emergency stop is triggered, so
the robot can be operated the same as before emergency stop just by
canceling emergency stop without reperforming return-to-origin.
1) Cancel the emergency stop button on the RPB.
Emergency stop is released by turning the emergency stop button clockwise.
2) Press while holding down .
The screen switches to "UTILITY" mode and the message "Cancel emergency flag?"
appears.
■
Emergency stop reset (1)
Cancel emergency flag? YES NO
3) Press (YES).
The following screen appears.
■
Emergency stop reset (2)
UTILITY
Date,Time : 06/06/01,18:59:37 (32 o C)
motor power: Off
Sequence : DISABLE
Armtype :
MOTOR SEQUENC ARMTYPE RST.DO
At this time, pressing returns to the previous mode with the motor power still
turned off. To turn on the motor power, continue the following operations.
6. Emergency stop