YASKAWA YRC1000, Instructions Manual

Page: 165 / 454

System Setup
9
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9.9 Overrun/Tool shock sensor releasing
WARNING!
Risk of injury due to crushing
To operate the robot with the overrun or shock sensor released, pay extra attention to the
safety of the surrounding operation environment.
If the robot stops by overrun detection or tool shock sensor detection, release the overrun
or tool shock sensor by the following procedure and reset the alarm and move the robot
with the axis keys.
1. Select {ROBOT} from the main menu.
2. Select {OVERRUN & S-SENSOR}.
–
The OVERRUN & SHOCK SENSOR window appears.
– Select either “EMERGENCY STOP” or “HOLD” to set the item “SHOCK SENSOR
STOP COMMAND” which specifies the stop condition in the current shock sensor
detection.
– “E-STOP” and “HOLD” are displayed alternately every time [SELECT] is pressed.
3. Select “RELEASE”.
–
The control group in which overrun or shock sensor is detected is indicated with “ ● ".
– If “RELEASE” is selected, overrun or tool shock sensor is released and “CANCEL” is
shown.
4. Select “ALM RST”.
–
The alarm is reset and robot can be moved with the axis keys.
NOTICE
After releasing the overrun or tool shock sensor, if “CANCEL” is selected or the window is
changed to the other one, the release of the overrun or tool shock sensor will be canceled.