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4. Robot Safety Functions
(1) Overload detection
This function detects an overload applied to the motor and shuts off the servo power.
(2) Overheat detection
This detects an abnormal rise in the controller driver temperature and shuts off the
servo power.
If an overload or overheat error occurs, take the following measuring.
q Insert a timer in the program.
w Reduce the acceleration coefficient.
(3) Soft limits
Soft limits can be set on each axis to limit the working envelope in manual operation
after return-to-origin and during automatic operation. Note that the working envelope
is the area limited by soft limits.
(4) Mechanical stoppers
If the servo power is suddenly shut off during high-speed operation by emergency
stop or safety functions, these mechanical stoppers prevent the axis from exceeding
the movable range. Note that the movable range is the area limited by the mechanical
stoppers. No mechanical stopper is provided on the R-axis.
(5) Z-axis (vertical axis) brake
An electromagnetic brake is installed on the Z-axis to prevent the Z-axis from dropping
when the servo power is shut off. This brake is working when the controller power is
OFF or if the Z-axis servo is OFF even when the controller power is ON. The Z-axis
brake can be released by means of the programming unit or by a command in the
program when the controller power is ON.
w
WARNING
THE Z-AXIS WILL DROP WHEN THE BRAKES ARE RELEASED, CREATING A HAZARDOUS
SITUATION.
• PRESS THE EMERGENCY STOP BUTTON AND PROP UP THE Z-AXIS WITH A SUPPORT
STAND, ETC., BEFORE RELEASING THE BRAKE.
• BE CAREFUL NOT TO LET YOUR BODY GET CAUGHT BETWEEN THE Z-AXIS AND
INSTALLATION BASE, ETC., WHEN RELEASING THE BRAKE TO PERFORM DIRECT
TEACHING.
4. Robot Safety Functions
Chapter
1
1-9
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