Yamaha RCX40, User Manual

Page: 76 / 388

4-
16
Operation
4
6.1 Emergency stop reset
To return to normal operation after emergency stop, emergency stop must be reset.
1) Cancel the emergency stop button on the MPB.
Emergency stop is released by turning the emergency stop button clockwise.
2) Press the
LOWER
key while holding down the
UTILITY
key.
The screen switches to “UTILITY” mode and the message “Cancel emergency
flag?” appears.
Fig. 4-6-2 Emergency stop reset (1)
Cancel emergency flag? YES NO
3) Press the
F 4
(YES) key.
The following screen appears.
Fig. 4-6-3 Emergency stop reset (2)
UTILITY
Date,Time : 01/02/20,18:59:37 (32
°
C)
MOTOR power: Off
Sequence : DISABLE
Armtype : RIGHTY
MOTOR SEQUENC ARMTYPE RST.DO
At this time, pressing the
ESC
key returns to the previous mode with the motor
power still turned off. To turn on the motor power, continue the following operations.
4) Press the
F 1
(MOTOR) key.
The following screen appears.
Fig. 4-6-4 “UTILITY>MOTOR” mode (1)
UTILITY>MOTOR
Motor power: Off
D1=M1: Brake D5=M5: no axis
D2=M2: Brake D6=M6: no axis
D3=M3: Brake
D4=M4: Brake
ON OFF
6. Emergency stop
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 absolute reset.