Safety; Self-Diagnosis Stop Functions - Mitsubishi Electric MELFA CR800 Series Special Specifications Manual

6 Safety

6.1 Safety
Measures to be taken regarding safety of the industrial robot are specified in the "Labor Safety and Sanitation
Rules". Always follow these rules when using the robot to ensure safety.

6.1.1 Self-diagnosis stop functions

This robot has the self-diagnosis stop functions shown in
for safe use.
Table 6-1 ： Self-diagnosis stop functions
No. Function
Overload protection func -
1
tion
2 Overcurrent diagnosis
function
3 Encoder disconnection
diagnosis function
4 Deflection over diagnosis
function
5 AC power voltage drop
diagnosis function
CPU error detection func -
6
tion
7 Overrun Software limit
prevention detection
function
Mechanical
stopper
Table 6-2 ： List of stop functions
Teaching pen -
Stop
function dant
Emergency
◯
stop
Stop ◯
Details
Activates when the total servo current time exceeds
the specified value.
Activates when an overcurrent flows to the motor
circuit.
Activates when the encoder cable is disconnected.
Activates when an error occurs between the com -
mand value and actual position, and the error
exceeds the specified amount.
Activates when the AC power voltage drops below
the specified value.
Activates when an error occurs in the CPU.
This is the limit provided by the software to enable
operation only in the operation range.
This is the mechanical stopper provided outside the
software.
External
input
The servo power is shut off and the mechanical brakes activate to stop the robot by stopping
◯ operation in an emergency.
To recover, reset the alarm, and turn the servo ON with the servo ON command.
The robot immediately decelerates to stop by stopping operation as usual.
◯ Note that the servo power is not shut off. Use this when using the collision evasion sensor,
etc.
Table 6-1 and the stop functions shown in
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The drive circuit is shut off. The robot stops, and
an alarm displays.
The robot mechanically stops, and function 1 or 2
activates.
Details
6Safety
Table 6-2
Remarks
Safety 6-128