YASKAWA ArcWorld 50, System Manual

Page: 64 / 126

2-9
183574-1CD
183574-1CD
2 Equipment Description
2.6 Safety Features
ArcWorld 50/50S/52/52S
2.6.3 Emergency Stop (E-STOP)
E-STOP is a primary safety feature of the ArcWorld. A work-cell access
door interlock, Robot welding torch impact (collision) detection circuitry
(refer to
section 2.5.3
), and [EMERGENCY STOP] buttons can trigger an
E-STOP condition. An E-STOP condition immediately de-energizes the
control system and activates the Robot emergency braking system (refer
to
section 2.6.5
). The [EMERGENCY STOP] buttons are used for an
intentional shutdown of the ArcWorld and are installed at the following
locations:
• Programming Pendant
• Operator Stations
To resume operation after an E-STOP condition shutdown, the operator
must clear and reset the action that caused the E-STOP condition (refer to
section 4.3.2
).
2.6.4 Programming Pendant’s Enable Device
The Enable Device is part of the Programming Pendant and provides a
safety feature that controls servo power while the system is in TEACH
mode (see
Fig. 2 - 2
). When pressed in, this switch allows the operator to
enable servo power. Should the operator release the switch or grasp it too
tightly however, servo power is immediately disabled, thus preventing
further Robot movement. For detailed information about the operation of
the ENABLE Device, refer to the
Controller Operator’s Manual for Arc
Welding
that is included with the documentation package
(see
section 1.5
).
2.6.5 Emergency Braking System
The Robot incorporates a braking system that protects personnel from
injury and prevents equipment damage if servo power is removed. Upon
loss of servo power, the brake system activates to hold all Robot axes in
place. The brake system has a feature that allows the operator to release
the brake of a specific Robot axis, even if drive power is disabled. Brake
release is accomplished with the Programming Pendant. Refer to the
Manual Brake Release Manual
included with the documentation package
(see
section 1.5
).
2.6.6 Interlocked Work-cell Access Door
The work-cell access door features a safety interlock (see
Fig. 1.3
). Any
attempt to open the access door while the Robots are in PLAY mode
triggers an E-STOP condition (refer to
section 2.6.3
).
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