User manual

Barrett Technology, Inc.
BA4-310 System User Manual Version 1.1
8
WARNING: Always disable the motors before powering up the system and before resetting
the safety fault logic.
EMERGENCY STOP (Red)
The Emergency Stop button permits the user to shut down the system manually. The E-Stop
button will lock in the depressed position when pushed. The mushroom-head construction
allows the user to activate the button quickly without needing to find the center of the switch in
an emergency situation. Upon activation of the E-Stop button, AC power to the Power Supply
that generates the 300V Bus is cut, the Kollmorgen Controllers are disabled and the DC bus to
the current controllers is shunted across dynamic braking resistors to slow the robot axes until
they come to rest against motion stops.
Be aware that the robot will not stop instantaneously and thus persons entering the robot’s
workspace should remain alert to robot motion at all times.
The E-Stop button latch may be released by rotating the mushroom button clockwise and
allowing the button to return to its initial state. NOTE: even after the latch is released, the
system will remain shutdown until the safety fault is manually reset.
RESET SAFETY FAULT (White)
This button will reset the safety fault logic circuit after a manual or automatic shut down has
occurred. It will restore the ability to enable the servomotors and will clear any fault indicators
provided that the fault condition(s) no longer exists (
ex.
over-temperature condition, over-
velocity condition, manual E-Stop latched, etc.).
IMPORTANT: Make sure the motors are disabled before resetting safety faults.
1.3.3 Power Switch
A 3-phase, 220VAC circuit breaker is located on the back of the control cabinet. This breaker
functions as the main system-power switch for the cabinet. To supply AC current to the motor
power supplies, this switch must be in the “on” position.
1.3.4 Indicator Lights
Several types of indicator lights are visible on the front of the control cabinet as shown in
Figure 3. The top two rows of text indicate the joint or motor that the lights refer to. Following
is a list of lights and their meaning:
Command Voltage Active
– This indicates that there is a substantial command signal to the
motor specified. This light is helpful to determine if the arm will move unexpectedly when
enabled. The light will come on when the command voltage is about 30% or more of the
maximum value. Pressing the Reset button will not reset these lights, as they depend only on
the command signal.
Drive Fault
– These lights are normally off and will come on to indicate that a Kollmorgen
Controller has a drive fault. A drive fault is generally caused by encoder/resolver feedback