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ID : 9649
Turning ON Motor
Robot can be operated by turning on motor.
Before turning on the motor, make sure that no persons including operator are not in the motion space of the robot.
To perform the following operation, it is necessary to turn on motor.
- When you manually operate the robot under the manual mode.
- When you run the robot automatically in the auto mode.
Operation of Smart TP
To turn ON the motor, do the following procedure.
| Mode | Interlock between the enabling switch and motor power ON (*1) | Operation |
|---|---|---|
|
Interlocked. (factory default setting) |
|
| Not interlocked. | Tap the [MOTOR] button of the shortcut menu. | |
| Automatic mode | - | Tap the [MOTOR] button of the shortcut menu. |
*1: For details about the interlock between the enabling switch and motor power ON, refer to "The Setting of the Enabling Switch Linkage Function".
Under the manual mode, motor power turns on only when the enabling switch is pressed. Motor power turns off once the enabling switch is released.
In Auto mode (when the program check option is selected), when the enabling switch is turned off, the robot in operation stops immediately but the motor power does not turn off.
- If "Error 8150101A; Command is not executable while emergency stop is ON" is displayed when motor is turned on, that the circuit of "External emergency stop input" pin for robot controller connector Mini I/O is not closed. The controller judges as in emergency stop for this condition. Close "External emergency stop" pin.
- Motor cannot be turned on in the "machine lock" state.
- If turn off the motor immediately after turning the motor on, "MotorBUS-FET failure" might occur. If an error occurs, reboot the controller power supply.
ID : 9649