motoman robotics 6200 Operators Manual

MRC Controller

ArcWorld 6200 Two-Controller Operator's Manual

for SK-Series Robots

Part Number 133676-8 Revised 9/13/99

February 27, 1997

MOTOMAN

805 Liberty Lane

West Carrollton, OH 45449

TEL: 937-847-6200 FAX: 937-847-6277

24-HOUR SERVICE HOTLINE: 937-847-3200

The information contained within this document is the proprietary property of Motoman, Inc., and

may not be copied, reproduced or transmitted to other parties without the expressed written

Because we are constantly improving our products, we reserve the right to change specifications without

notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.

authorization of Motoman, Inc.

TABLE OF CONTENTS

Section Page

LIST OF FIGURES ................................................................................................. iv

LIST OF TABLES................................................................................................... iv

1.0 INTRODUCTION.......................................................................................... 1

1.1 ABOUT THIS DOCUMENT.................................................................. 1

1.2 SYSTEM OVERVIEW............................................................................. 1

1.2.1 System Layout........................................................................... 2

1.2.2 Optional Equipment.................................................................... 3

1.3 REFERENCE TO OTHER DOCUMENTATION ...................................... 3

1.4 CUSTOMER SERVICE INFORMATION ................................................ 4

2.0 SAFETY......................................................................................................... 5

2.1 STANDARD CONVENTIONS................................................................ 6

2.2 GENERAL SAFEGUARDING TIPS........................................................ 7

2.3 MECHANICAL SAFETY DEVICES......................................................... 7

2.4 INSTALLATION SAFETY....................................................................... 8

2.5 PROGRAMMING SAFETY ................................................................... 8

2.6 OPERATION SAFETY ........................................................................... 9

2.7 MAINTENANCE SAFETY.................................................................... 10

3.0 DESCRIPTION OF EQUIPMENT ................................................................ 11

3.1 SK-SERIES ROBOT DESCRIPTION................................................... 11

3.2 MRC CONTROLLER........................................................................... 11

3.2.1 Servo Power........................................................................... 12

3.2.2 Mode Select............................................................................ 12

3.2.3 Cycle Select............................................................................ 13

3.2.4 Emergency Stop ...................................................................... 13

3.2.5 Alarm/Error............................................................................ 13

3.2.6 Hold........................................................................................ 13

3.2.7 Start....................................................................................... 13

3.2.8 Playback Box Subpanel............................................................ 13

3.3 PROGRAMMING PENDANT............................................................. 14

3.3.1 Display.................................................................................... 14

3.3.2 Robot Speed Indicators............................................................ 14

3.3.3 Emergency Stop ...................................................................... 15

3.3.4 Keypad.................................................................................... 15

3.3.5 Servo Power........................................................................... 15

3.3.6 Coordinate System Indicators.................................................. 15

ArcWorld 6200 Two-Controller Operator's Manual Page i MOTOMAN

Section Page

3.4 MRM2-SERIES POSITIONERS.......................................................... 15

3.4.1 Welding Ground System........................................................... 17

3.4.2 Locking Pins............................................................................ 17

3.4.3 Arc Shield............................................................................... 17

3.5 OPERATOR STATION ........................................................................ 18

3.5.1 Emergency Stop...................................................................... 18

3.5.2 Hold ...................................................................................... 18

3.5.3 Cycle Start............................................................................. 18

3.5.4 Station Ready.......................................................................... 19

3.5.5 Alarm..................................................................................... 19

3.5.6 Servo On................................................................................ 19

3.5.7 Auto/Manual ........................................................................... 19

3.5.8 Master Job Start.................................................................... 19

3.5.9 Operator Station Enable/Disable.............................................. 19

3.5.10 Reset...................................................................................... 20

3.6 WELDING POWER SOURCE.............................................................. 20

3.6.1 Main Power............................................................................ 20

3.6.2 Volt/Amp Settings.................................................................... 20

3.6.3 Terminal Connectors............................................................... 21

3.6.4 Local/Remote Operation........................................................... 21

3.6.5 Feeder Control Receptacles..................................................... 21

3.6.6 Circuit Breakers..................................................................... 21

3.6.7 AC Receptacles....................................................................... 21

3.7 WELDING EQUIPMENT..................................................................... 21

3.7.1 PWF4 Wire Feeder.................................................................. 21

3.7.2 Universal Welding Interface (UWI)......................................... 22

3.7.3 MIG Torch............................................................................. 22

3.7.4 Tregaskiss Gun Mount ............................................................ 22

3.8 SAFETY EQUIPMENT ........................................................................ 22

3.8.1 Arc Screens............................................................................ 22

3.8.2 Fencing................................................................................... 23

3.8.3 Interlocks............................................................................... 23

3.8.4 Safety Mats............................................................................ 23

3.8.5 Emergency Stops..................................................................... 23

4.0 OPERATION............................................................................................... 25

4.1 OPERATING PROCEDURES.............................................................. 25

4.1.1 Start-up.................................................................................. 25

ArcWorld 6200 Two-Controller Operator's Manual Page ii MOTOMAN

Section Page

4.1.2 Normal Operating Procedures................................................. 26

4.1.3 Emergency Stop Recovery....................................................... 26

4.1.4 Shock Sensor Recovery........................................................... 27

4.1.5 Fault Recovery........................................................................ 28

4.1.6 Shutdown................................................................................ 28

4.2 ALARMS AND ERRORS..................................................................... 28

4.2.1 Error Messages...................................................................... 28

4.2.2 Minor Alarms......................................................................... 29

4.2.3 Major Alarms......................................................................... 29

4.3 PROGRAMMING............................................................................... 29

4.3.1 Cube Assignment..................................................................... 29

4.3.2 Sweeping Positioner to Side A.................................................. 30

4.3.3 Sweeping Positioner to Side B.................................................. 31

4.3.4 Rotating Headstock ................................................................. 32

4.3.5 Programming Specific Jobs...................................................... 32

4.3.6 Rotating the Positioner During Air Cut Moves ......................... 32

4.3.7 Robot Motion with the Positioner Stationary............................ 33

4.3.8 Rotation of the Positioner During Welding................................ 33

4.3.9 Converting Programs from Side A to

Side B—Master Robot Only............................................... 33

4.3.10 I/O Assignment....................................................................... 34

4.4 SAMPLE JOBS................................................................................... 35

4.4.1 Master Controller—Master Job............................................. 35

4.4.2 Master Controller—Cube Job................................................. 36

4.4.3 Master Controller—SweepToA Job........................................ 36

4.4.4 Master Controller—SweepToB Job........................................ 37

4.4.5 Master Controller—WeldA Job.............................................. 38

4.4.6 Master Controller—WeldB Job.............................................. 39

4.4.7 Slave Controller—Cube Job.................................................... 40

4.4.8 Slave Controller—WeldA Job.................................................. 40

4.4.9 Slave Controller—WeldB Job................................................. 41

5.0 MAINTENANCE.......................................................................................... 43

5.1 PERIODIC MAINTENANCE............................................................... 43

5.2 SPARE PARTS LIST............................................................................ 44

5.3 FUSE AND CIRCUIT BREAKER PROTECTION.................................. 44

APPENDIX — RISK ASSESSMENT ....................................................... Appendix–1

INDEX

ArcWorld 6200 Two-Controller Operator's Manual Page iii MOTOMAN

LIST OF FIGURES

Figure Page

Figure 1-1 System Layout, Top-Down View............................................................ 2

Figure 3-1 MRC Controller................................................................................ 11

Figure 3-2 MRC Playback Box............................................................................ 12

Figure 3-3 Programming Pendant....................................................................... 14

Figure 3-4 Operator Station................................................................................ 18

Figure 3-5 MotoArc Controls............................................................................. 20

LIST OF TABLES

Table Page

Table 3-1 MRM2-550 (RM2-250) Positioner Specifications............................... 16

Table 3-2 MRM2-1100 (RM2-500) Positioner Specifications............................. 16

Table 3-3 MRM2-1650 (RM2-750) Positioner Specifications............................. 17

Table 5-1 Periodic Maintenance......................................................................... 43

Table 5-2 Spare Parts....................................................................................... 44

Table 5-3 MotoArc 450 CV Fuses and Circuit Breakers..................................... 44

Table 5-4 MRC Cabinet Fuses and Circuit Breakers........................................... 45

Table 5-5 Universal Welding Interface (UWI) Fuses and Circuit Breakers.......... 46

Table 5-6 MRC System Fuses............................................................................ 46

Table 5-7 Com-Arc III Fuses and Circuit Breakers............................................ 46

ArcWorld 6200 Two-Controller Operator's Manual Page iv MOTOMAN

1.0 INTRODUCTION

The ArcWorld 6200 Two-Controller system is part of the ArcWorld family of standardized arc welding solutions. It is a fully integrated welding system, and is supported from wire to weld by Motoman, Inc.

The ArcWorld 6200 features two Motoman arc welding robots, two MRC controllers with menu-driven arc welding application software, two complete welding packages, a 180˚ reciprocating positioner, an operator interface, and a total safety environment.

1.1 ABOUT THIS DOCUMENT

This manual provides operation instructions for the ArcWorld 6200 TwoController system. In addition to this introduction, the manual includes the following sections:

• SECTION 2: SAFETY

Provides information regarding the safe use and operation of the ArcWorld 6200 system.

• SECTION 3: DESCRIPTION OF EQUIPMENT

Provides a detailed description of the major components of the ArcWorld system. This section includes a table of component specifications.

• SECTION 4: OPERATION

Provides instructions to operate the ArcWorld system. This section describes the various operator controls and indicators. It also provides procedures for start-up, loading, normal operation, fault recovery, and shutdown. This section also contains a number of sample robot programs.

• SECTION 5: MAINTENANCE

Contains a table listing periodic maintenance requirements for the ArcWorld 6200 cell. It also includes a list of recommended spare parts.

• APPENDIX

The Appendix is a Risk Assessment document.

1.2 SYSTEM OVERVIEW

The ArcWorld 6200 Two-Controller system provides a complete arc welding solution in a standardized configuration. The system is designed around two Motoman arc welding robots and two MRC controllers, and includes two complete welding packages. A dual station reciprocating positioner allows an operator to prepare and set up parts on one side while the robots weld on the other side. The cell provides a full complement of safety features designed to protect both personnel and equipment.

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1.2.1 System Layout

Figure 1-1 shows a top-down view of the system layout for the ArcWorld 6200 Two-Controller cell.

Master Robot

Assembled Safety Fence

T orch T ender

MotoArc Welding Power Source

Disconnect

Master Controller MRC Cabinet

Water Circulator

Slave Controller MRC Cabinet

Cell Door

MotoArc Welding Power Source

Com-Arc III

Auxiliary Equipment Common Base

Slave Robot

T orch T ender

Gas Bottles (customer supplied)

Positioner

Operator Station

Safety Mat

Figure 1-1 System Layout, Top-Down View

The ArcWorld 6200 Two-Controller cell includes the following major components:

• Two Motoman robot manipulators

• Two MRC controllers

• MRM2-series dual station reciprocating positioner

• Master operator station

• Welding equipment, including the following: — Two MotoArc welding power sources — Two torches (water-cooled or air-cooled)

ArcWorld 6200 Two-Controller Operator's Manual Page 2 MOTOMAN

— Two wire feeders — Two universal welding interfaces (UWIs) — Two Tregaskiss gun mounts

• Safety equipment, including the following: — Safety fencing with arc curtains — Interlocked safety mats — Interlocked cell door — Positioner arc screen

The robot manipulators and positioner share a common base for ease of installation and to help maintain proper alignment between these components. Each MRC controller shares a common base with its welding power source. Additional auxiliary components, such as the water circulator and the Com-Arc III seam tracking unit, can be located on the bases with the controllers.

NOTE: Arc shield on positioner and arc curtains not shown for clarity.

The robotic cell is fully enclosed by safety fencing and is entered only through an interlocking door. Safety mats prevent the positioner from cycling while anyone is standing directly on the mats. All operator controls, including those on the MRC and welding power supply, are accessible from outside of the safety fencing that encloses the robotic cell.

1.2.2 Optional Equipment

The following optional equipment is available for use with the ArcWorld 6200:

• Torch tender

• Wire cutter

• Com-Arc III through-the-arc seam tracking unit

• Heavy duty positioners

• Stationary tables

1.3 REFERENCE TO OTHER DOCUMENTATION

For additional information refer to the following:

• Motoman SK6 Manipulator Manual (P/N 133680-2)

• Motoman SK16 Manipulator Manual (P/N 133680-3)

• Motoman MRC Operator’s Manual for Arc Welding (P/N 132332-1)

• Motoman MRC User Functions Manual (P/N 132331-1)

• Motoman ArcWorld 6200 Installation Manual (P/N 133677-8)

• Motoman MRC Operator’s Manual for Jigless (P/N 132332-3)

• Com-Arc III Instruction Manual (P/N 132753-1)

• Vendor manuals for system components not manufactured by Motoman

ArcWorld 6200 Two-Controller Operator's Manual Page 3 MOTOMAN

1.4 CUSTOMER SERVICE INFORMATION

If you need technical assistance, contact the Motoman service staff at (937) 847-3200. Please have the following information ready before you call:

• Robot Type (SK6 or SK16)

• Serial Number (located on the back side of the robot arm)

• Application Type (welding)

• Order Numbers (located on back side of robots and MRC controllers)

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2.0 SAFETY

It is the purchaser's responsibility to ensure that all local, county, state, and national codes, regulations, rules, or laws relating to safety and safe operating conditions for each installation are met and followed.

We suggest that you obtain and review a copy of the ANSI/RIA National Safety Standard for Industrial Robots and Robot Systems. This information can be obtained from the Robotic Industries Association by requesting ANSI/RIA R15.06. The address is as follows:

Robotic Industries Association

900 Victors Way

P.O. Box 3724

Ann Arbor, Michigan 48106

TEL: 313/994-6088

FAX: 313/994-3338

Ultimately, the best safeguard is trained personnel. The user is responsible for providing personnel who are adequately trained to operate, program, and maintain the robot cell. The robot must not be operated by personnel who have not

been trained!

We recommend that all personnel who intend to operate, program, repair, or use the robot system be trained in an approved Motoman training course and become familiar with the proper operation of the system.

This safety section addresses the following:

• Standard Conventions (Section 2.1)

• General Safeguarding Tips (Section 2.2)

• Mechanical Safety Devices (Section 2.3)

• Installation Safety (Section 2.4)

• Programming Safety (Section 2.5)

• Operation Safety (Section 2.6)

• Maintenance Safety (Section 2.7)

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2.1 STANDARD CONVENTIONS

This manual includes information essential to the safety of personnel and equipment. As you read through this manual, be alert to the four signal words:

• DANGER

• WARNING

• CAUTION

• NOTE

Pay particular attention to the information provided under these headings which are defined below (in descending order of severity).

DANGER!

Information appearing under the DANGER caption concerns the protection of personnel from the immediate and imminent hazards that, if not avoided, will result in immediate, serious personal injury or loss of life in addition to equipment damage.

WARNING!

Information appearing under the WARNING caption concerns the protection of personnel and equipment from potential hazards that can result in personal injury or loss of life in addition to equipment damage.

CAUTION!

Information appearing under the CAUTION caption concerns the protection of personnel and equipment, software, and data from hazards that can result in minor personal injury or equipment damage.

NOTE: Information appearing in a NOTE caption provides additional information which is helpful in

understanding the item being explained.

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2.2 GENERAL SAFEGUARDING TIPS

All operators, programmers, plant and tooling engineers, maintenance personnel, supervisors, and anyone working near the robot must become familiar with the operation of this equipment. All personnel involved with the operation of the equipment must understand potential dangers of operation. General safeguarding tips are as follows:

• Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation of this robot, the operator's manuals, the system equipment, and options and accessories should be permitted to operate this robot system.

• Do not enter the robot cell while it is in automatic operation. Programmers must have the teach pendant when they enter the robot cell.

• Improper connections can damage the robot. All connections must be made within the standard voltage and current ratings of the robot I/O (Inputs and Outputs).

• The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not in use.

• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, use lockout/tagout procedures during equipment maintenance. Refer also to Section

1910.147 (29CFR, Part 1910), Occupational Safety and Health Standards for General Industry (OSHA).

2.3 MECHANICAL SAFETY DEVICES

The safe operation of the robot, positioner, auxiliary equipment, and system is ultimately the user's responsibility. The conditions under which the equipment will be operated safely should be reviewed by the user. The user must be aware of the various national codes, ANSI/RIA R15.06 safety standards, and other local codes that may pertain to the installation and use of industrial equipment. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. The following safety measures are available:

• Safety fences and barriers

• Light curtains

• Door interlocks

• Safety mats

• Floor markings

• Warning lights

Check all safety equipment frequently for proper operation. Repair or replace any non-functioning safety equipment immediately.

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2.4 INSTALLATION SAFETY

Safe installation is essential for protection of people and equipment. The following suggestions are intended to supplement, but not replace, existing federal, local, and state laws and regulations. Additional safety measures for personnel and equipment may be required depending on system installation, operation, and/or location. Installation tips are as follows:

• Be sure that only qualified personnel familiar with national codes, local codes, and ANSI/RIA R15.06 safety standards are permitted to install the equipment.

• Identify the work envelope of each robot with floor markings, signs, and barriers.

• Position all controllers outside the robot work envelope.

• Whenever possible, install safety fences to protect against unauthorized entry into the work envelope.

• Eliminate areas where personnel might get trapped between a moving robot and other equipment (pinch points).

• Provide sufficient room inside the workcell to permit safe teaching and maintenance procedures.

2.5 PROGRAMMING SAFETY

• Any modifications to PART 1 of the MRC controller PLC can cause severe personal injury or death, as well as damage to the robot! Do not make any modifications to PART 1. Making any changes without the written permission of Motoman will VOID YOUR WARRANTY!

• Some operations require standard passwords and some require special passwords. Special passwords are for Motoman use only. YOUR WARRANTY WILL BE VOID if you use these special passwords.

• Back up all programs and jobs onto a floppy disk whenever program changes are made. To avoid loss of information, programs, or jobs, a backup must always be made before any service procedures are done and before any changes are made to options, accessories, or equipment.

• The concurrent I/O (Input and Output) function allows the customer to modify the internal ladder inputs and outputs for maximum robot performance. Great care must be taken when making these modifications. Double-check all modifications under every mode of robot operation to ensure that you have not created hazards or dangerous situations that may damage the robot or other parts of the system.

• Improper operation can result in personal injury and/or damage to the equipment. Only trained personnel familiar with the operation, manuals, electrical design, and equipment interconnections of this robot should be permitted to operate the system.

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• Inspect the robot and work envelope to be sure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Be sure that all safeguards are in place.

• Check the E-STOP button on the teach pendant for proper operation before programming.

• Carry the teach pendant with you when you enter the workcell.

• Be sure that only the person holding the teach pendant enters the workcell.

• Test any new or modified program at low speed for at least one full cycle.

2.6 OPERATION SAFETY

• Be sure that only trained personnel familiar with the operation of this robot, the operator's manuals, the system equipment, and options and accessories are permitted to operate this robot system.

• Check all safety equipment for proper operation. Repair or replace any nonfunctioning safety equipment immediately.

• Inspect the robot and work envelope to ensure no potentially hazardous conditions exist. Be sure the area is clean and free of water, oil, debris, etc.

• Ensure that all safeguards are in place.

• Do not enter the robot cell while it is in automatic operation. Programmers must have the teach pendant when they enter the cell.

• The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not in use.

• This equipment has multiple sources of electrical supply. Electrical interconnections are made between the controller, external servo box, and other equipment. Disconnect and lockout/tagout all electrical circuits before making any modifications or connections.

• All modifications made to the controller will change the way the robot operates and can cause severe personal injury or death, as well as damage the robot. This includes controller parameters, ladder parts 1 and 2, and I/O (Input and Output) modifications. Check and test all changes at slow speed.

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2.7 MAINTENANCE SAFETY

• Do not perform any maintenance procedures before reading and understanding the proper procedures in the appropriate manual.

• Check all safety equipment for proper operation. Repair or replace any nonfunctioning safety equipment immediately.

• Back up all your programs and jobs onto a floppy disk whenever program changes are made. A backup must always be made before any servicing or changes are made to options, accessories, or equipment to avoid loss of information, programs, or jobs.

• Do not enter the robot cell while it is in automatic operation. Programmers must have the teach pendant when they enter the cell.

• The robot must be placed in Emergency Stop (E-Stop) mode whenever it is not in use.

• Be sure all safeguards are in place.

• Use proper replacement parts.

• Improper connections can damage the robot. All connections must be made within the standard voltage and current ratings of the robot I/O (Inputs and Outputs).

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3.0 DESCRIPTION OF EQUIPMENT

3.1 SK-SERIES ROBOT DESCRIPTION

The Motoman SK6 and SK16 robots and MRC controller represent state-of-theart technology in robotics today. The six-axis SK6 robot has a payload of 6 kg (13.2 lbs). It features a 1,325 mm (52.1 in.) reach and has a relative positioning accuracy of ± 0.1 mm (0.004 in.). The six-axis SK16 robot has a payload of 16 kg (35.2 lbs). It features a 1,555 mm (61.2 in.) reach and has a relative positioning accuracy of ± 0.1 mm (0.004 in.).

Each robot can reach below its own base as well as behind itself. These robots can also be mounted in floor, wall, or ceiling configurations with few hardware modifications. The replacement life for the lithium battery is approximately three years.

3.2 MRC CONTROLLER

The MRC controller (see Figure 3-1) coordinates the operation of the ArcWorld system. It controls the movement of the manipulator, processes input and output signals, controls the operation of the welding power supply, and provides the signals to operate the welding system. The ArcWorld 6200 Two-Controller system is configured so that each controller directs the action of its respective robot.

PROGRAMMING PENDANT

SERVO POWER

YASNAC MRC

MODE

CYCLE

E.STOP

REMOTETEACHPLAY

1 CYCLE

STEP

AUTO

ALARM/ ERROR

HOLD

PLAYBACK BOX

START

WARNING

480 VOLTS

Figure 3-1 MRC Controller

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The Master controller coordinates the operation of the entire cell and directs the action of the Master robot manipulator. The Slave controller directs the action of the Slave robot manipulator. The Master controller delegates tasks to the Slave controller and monitors task completion by sending output to and receiving output from the Slave controller.

The playback box (see Figure 3-2) has the primary system controls for the MRC. Control buttons are grouped on the front panel and the subpanel. The following paragraphs describe the MRC controls.

SERVO

POWER

3.2.1 Servo Power

On each MRC, the SERVO POWER button on the front panel turns on the robot servo power to the robot controlled by that controller. An indicator lamp in the switch lights when servo power is on. The SERVO POWER button on one controller does NOT turn on servo power to the other controller or its robot. Only by pressing the SERVO ON button on the operator station can you turn on servo power of both the Master and Slave controllers at the same time.

SERVO POWER

MODE

BUTTONS

MODE

REMOTETEACHPLAY

CYCLE

BUTTONS

CYCLE

1 CYCLE

AUTO

STEP

ALARM/ ERROR

HOLD

ALARM/ERROR INDICATOR

Figure 3-2 MRC Playback Box

E.STOP

HOLD BUTTON

E-STOP

START

BUTTON

3.2.2 Mode Select

The MODE SELECT buttons (PLAY, TEACH, and REMOTE) set the robot’s mode of operation. Indicator lamps light to show the current mode of operation. Pressing the TEACH or REMOTE button on one controller will also place the other MRC controller into the TEACH or REMOTE mode. The PLAY mode button on the Slave controller has been disabled to allow for a single point of control and added safety; however, pressing the PLAY mode button on the Master controller WILL place the Slave controller into the PLAY mode. Refer to your MRC Operator’s Manual for more information.

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3.2.3 Cycle Select

The CYCLE SELECT button switches (AUTO, 1-CYCLE, and STEP) set the operating method for playback operations. Indicator lamps in the CYCLE SELECT switches light to show the selected playback method. These buttons need to be set individually on each MRC controller. In other words, pressing the AUTO switch on one controller does NOT place the other controller into the AUTO cycle mode. These buttons should typically be set the same on both controllers. Refer to your MRC Operator’s Manual for more information.

3.2.4 Emergency Stop

The Emergency Stop (E-STOP) button is connected to the system Emergency Stop circuit. Interrupting the Emergency Stop circuit causes the robot to go into the Emergency Stop condition. Pressing the E-STOP button on EITHER CONTROLLER immediately cuts servo power and engages the brakes on BOTH ROBOTS and the positioner.

3.2.5 Alarm/Error

The ALARM/ERROR indicator lights whenever an alarm or error condition occurs. The indicator also lights when servo power is cut to the system, as in the case of an E-STOP condition. After you reset the alarm or error condition or restore servo power, the indictor lamp turns off.

3.2.6 Hold

Pressing the HOLD button on EITHER CONTROLLER stops the operation of BOTH robot manipulators and the positioner momentarily. The indicator lamps light whenever the robots are in a HOLD state. The RESET button on the operator station must be pressed to clear the HOLD state. Then the MASTER JOB START button on the operator station must be pressed in order to start both robots at the same time. Operation will resume at the point in the program where the HOLD state was initiated. The HOLD button is normally closed. Refer to your MRC Operator’s Manual for more information.

CAUTION!

If instead of pressing the MASTER JOB START button on the operator station, you press the green START button on either playback box, only that robot will start. This could lead to a possible crash with the other robot.

3.2.7 Start

Pressing the START button on one MRC controller causes the manipulator playback operation to start ONLY for that controller. In other words, pressing the START button on the Master controller will NOT cause the Slave controller to start and vice versa. The indicator lamp lights during playback. The MASTER JOB START button on the operator station is used to start both controllers at the same time. This is explained later in the manual.

3.2.8 Playback Box Subpanel

The playback box has a subpanel that contains additional user controls. Refer to your MRC Operator’s Manual for more information.

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