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1. Safety
Safety Door Input
In order to activate this feature, make sure that the Safety Door Input switch is
connected to the EMERGENCY connector on the Drive Unit.
When the safety door is opened, normally the Manipulator immediately stops the
current operation, and the status of Manipulator power is operation-prohibited
until the safety door is closed and the latched condition is released. In order to
execute the Manipulator operation while the safety door is open, you must change
the ATTEND (TEACH) control device enable/disable switch to "enable" or
change the mode selector switch on the operation unit to the mode for teaching and
then engage the 3-position enable switch.
operated in low power status.
Lockout
Turn OFF the power supply and use a lockout procedure to prevent anyone from
turning ON the power supply by mistake while someone else is in the safeguarded
area for maintenance or repairs.
The procedure for lockout is described in the Maintenance 1. Safety Precautions
for Maintenance.
Low Power Mode
The motor power is reduced in this mode. A shift into restricted status (low
power status) can be done through the execution of a power status change
instruction, regardless of the safety door or operation mode. This ensures the
safety of the operator and reduces the possibility of peripheral equipment being
destroyed or damaged as a result of careless operation.
Dynamic Brake
The dynamic brake circuit includes relays that short the motor armatures. When
the motor armatures are shorted, the power to the Motor Driver modules is cut off
and the reverse EMF caused by the short stops the motors. The dynamic brake
circuit is activated when there is an Emergency Stop input or when any of the
following errors is detected: encoder cable disconnection, motor overload,
irregular motor torque, motor speed error, servo error (positioning or speed
overflow), irregular CPU, memory check-sum error and overheat condition inside
the Motor Driver Module.
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In this case, the Manipulator is
RC520 Safety and Installation Rev.2
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