YASKAWA Motoman XRC 2001, Системное руководство

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EQUIPMENT DESCRIPTION
MOTO MAN 3-9 ArcWorld II-200 System Manual
3.5.4 ENABLE Switch
The ENABLE switch is a safety feature which controls servo power while in
TEACH mode. When pressed in, this switch allows the operator to turn servo
power ON and initializes the system. However, should the operator release the
switch or grasp it too tightly, servo power is immediately disabled, preventing
further robot movement. For detailed information about the operation of the
ENABLE switch, refer to the controller section in the manipulator manual that
came with your system.
3.5.5 Interlocked Cell Door
A safety interlock on the cell entrance door prevents entry into the cell during
PLAY mode. Opening the cell door with the robot in PLAY causes an E-STOP.
Brakes are applied to the robot and all servo power is removed from the system.
The system E-STOP lights come on and all positioner motion is stopped.
3.5.6 Light Curtains
The light curtains monitor the position of the robot. As the robot moves from
Station 1 to Station 2, a signal is sent out to the controller informing it of the robot
penetrating the light curtain. This output and a signal from the operator door are
interlocked with the “OK TO WORK” output, preventing the robot from welding
when the operator door is open.
3.5.7 Brake Release
WARNING!
Releasing brakes could cause personal injury or machine damage.
Always support the axis to be released BEFORE you release it.
The Brake Release Control is a safety feature that releases the automatic brakes on
the robot in case of an emergency or robot failure.
3.6 Welding Equipment
The ArcWorld system provides a complete complement of arc welding equipment.
In its standard configuration, the ArcWorld system includes a power source, wire
feeder, torch, and torch mount. Optional equipment including water circulators,
Com-Arc units, and torch tenders may also be included with your system.
3.6.1 Power Sources
Motoman offers several different power sources for use with the ArcWorld II-200
system depending on your system’s application. Figure 3-7 shows some of the
more common power sources used. However, the power source your system uses
may be different. For more specific information, refer to the vendor manual that
came with your system.