POWER system switch
Syntax
... POWER
Function
Control or monitor the status of high power.
Usage Considerations
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DANGER: Do not use the POWER switch to enable power from within a program unless your system is subject to European certification. With European certification, special safety features are built-in to the system to prevent the robot from being activated without warning. See Details for additional information. |
Only CPU #1 can enable and disable power.
Using this switch to turn on high power is potentially dangerous when performed from a program because the robot can be activated without direct operator action. Turning on high power from the terminal can be hazardous if you do not have a clear view of the robot workspace or do not have immediate access to an Emergency Stop button.
Details
Enabling this switch is equivalent to
pushing the COMP/PWR button on the pendant to turn on high power. If
there is no error condition that prevents power from coming on, the enabling
process proceeds to the second step, in which you must press the HIGH POWER button on the
Disabling this switch requests the robot to perform a controlled deceleration and power-down sequence. This sequence consists of:
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Decelerating all robots according to the user-specified parameters. (See the following Note.)
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Turning on the brakes.
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Waiting for the user-specified brake-delay interval. (See the following Note.)
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Turning off the amplifiers and power.
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Asserting the backplane Emergency Stop signal and deasserting the High Power Enable (HPE) signal.
NOTE: User-specified parameters are set using the SPEC utility program. Robot manufacturers set these parameters for some robots; if so, you cannot change them.
Note that DISABLE POWER may take an arbitrarily long time due to long deceleration times and long brake turn-on delays. (Use the ESTOP command or program instruction when you desire an immediate shutdown.) The value of this switch can be checked at any time with the SWITCH real-valued function to determine if high power is on or off.
To disable power from a robot program without generating an error condition, the program must either be in DRY.RUN mode or DETACH the robot from program control. See the DRY.RUN switch or DETACH program instruction for details.
Example
The following program segment detaches the robot, turns high power off, and waits for you to turn high power back on.
DETACH ;Detach robot from program DISABLE POWER ;Turn off power TYPE "Press the COMP/PWR button to continue" ATTACH ;Wait for power on and attach TYPE "Robot program continuing..."
Related Keywords
DISABLE monitor command
DISABLE program instruction
ENABLE monitor command
ENABLE program instruction
ESTOP program instruction
SWITCH monitor command
SWITCH program instruction
SWITCH real-valued function
